CN206597136U - A kind of gait rehabilitation robot for realizing walking foot pose - Google Patents
A kind of gait rehabilitation robot for realizing walking foot pose Download PDFInfo
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- CN206597136U CN206597136U CN201621047603.8U CN201621047603U CN206597136U CN 206597136 U CN206597136 U CN 206597136U CN 201621047603 U CN201621047603 U CN 201621047603U CN 206597136 U CN206597136 U CN 206597136U
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- crank
- frame
- end effector
- connecting rod
- hinged
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- 230000005021 gait Effects 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 239000000725 suspension Substances 0.000 claims abstract description 12
- 230000000875 corresponding Effects 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 3
- 210000002683 Foot Anatomy 0.000 abstract description 17
- 210000003141 Lower Extremity Anatomy 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 210000003423 Ankle Anatomy 0.000 abstract description 2
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000005755 formation reaction Methods 0.000 abstract 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 4
- 230000002490 cerebral Effects 0.000 description 4
- 210000001503 Joints Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 210000001699 lower leg Anatomy 0.000 description 2
- 210000002414 Leg Anatomy 0.000 description 1
- 210000004279 Orbit Anatomy 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003137 locomotive Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Abstract
The utility model discloses a kind of gait rehabilitation robot for realizing walking foot pose, including frame, power set, transmission device, frame is provided with suspension apparatus, and the frame is respectively arranged on the left side and the right side that structure is identical and motion phase angle is 180 ° of end effector mechanisms；Power set drive two sets of end effector mechanisms simultaneously by transmission device；Suspension apparatus carries out part loss of weight to patient, and end effector mechanism drives patients feet to move by pedal, and then drives lower limb to complete gait rehabilitation training.End effector mechanism therein is made up of track generating unit and posture control unit, and track generating unit is used to generate ankle motion track, and posture control unit is used to control foot gesture.Foot pose of the people in normal walking is accurately realized by the combined mechanism of cam and connecting rod formation, and only needs a uniform speed electric motor that robot control can be achieved, preferably, manufacturing cost is low, is suitable for general family and uses for rehabilitation training effect.
Description
Technical field
The utility model is related to a kind of robot in rehabilitation medical instrument field, and in particular to one kind can realize people just
The gait rehabilitation robot of foot pose when often walking.
Background technology
Cerebral apoplexy is a kind of world wide disease of high incidence, and its presence has had a strong impact on the life of the mankind with being good for
Health.Cerebral apoplexy has a serious impact to walking function, there is analysis shows, and the cerebral apoplexy survivor close to 2/3 will lose walking
Ability.Therefore, locomotor activity is recaptured, recovers the key link that standing balance function is patients with cerebral apoplexy rehabilitation.Through clinic
Research shows that repeatedly accurate rehabilitation training can effectively alleviate illness.For this target, the developed country such as America and Europe develops
Lokomat is gone out, ALEX, the robot such as LOPES, to help patient to complete rehabilitation training.However, such robot system is multiple
Miscellaneous, cost is high, and general family is difficult to the medical expense for undertaking great number, and the kind equipment is used for recovery centre, patient exercise
Limited time, effect is difficult to be guaranteed.Therefore, it is necessary to develop a kind of small-sized, home-use lower limb rehabilitation robot.
By the retrieval discovery to prior art literature, China Patent No. 201410073019.9 discloses a kind of " family expenses
Small-sized lower limb rehabilitation exercising machine people ", the robot can generate a kind of class elliptical orbit similar with body gait, but with
Normal gait has larger difference.China Patent No. 201210277695.9 discloses " a kind of moving by bondage pin and shank band
Carry out the device of gait training " movement locus for being closer to normal gait is generated by planar linkage combined mechanism, but fail
Realize foot gesture during walking.China Patent No. 201110160875.4 discloses " pedal gait rehabilitation trainer phalanx
The rehabilitation institution in joint ", the mechanism has a driving force of thigh, shank, ankle and phalanx, but with people in normal walking
Posture still has bigger difference.U.S. Patent number WO2013033855A3 discloses " Gait training apparatus for
Generating a natural gait pattern ", the robot can be good at realizing normal foot pose, but still need to
The complicated control system of design realizes robot speed's control.
Utility model content
There is provided a kind of gait for realizing walking foot pose for deficiencies of the prior art for the utility model
Healing robot.According to the physical trait of patient and the design of rehabilitation teacher, the target foot position that design matches with patient
Appearance, can be designed that the healing robot mechanism for particular patient or specific objective colony using the utility model, passes through machine
Device people drives patients feet, is further driven to patient's lower limb and completes corresponding rehabilitation training.Feature of the present utility model is, this practicality
Novel mechanism can accurately realize foot pose of the people in normal walking, and only need that using uniform speed electric motor robot can be completed
Speed control, thus manufacturing cost is low, control system simple, disclosure satisfy that general family's use demand.
In order to solve the above technical problems, the utility model proposes it is a kind of realize walking foot pose gait rehabilitation machine
People, including frame, power set, transmission device, the frame upper end are suspension apparatus, and the frame lower end is provided with two sets of left and right
Identical, the end effector mechanism being connected with the transmission device, the bottom of the frame are provided with base；The power set
In the frame, the transmission device drives two sets of end effector mechanisms simultaneously；The suspension apparatus includes being fixed on
Support above the frame, the front end of the support is provided with suspension, and the rear end of the support is provided with bearing block, and the suspension is led to
Cable is crossed with bearing block to be connected；The frame two ends are respectively equipped with a fixed mount, and two sets of end effector mechanisms are solid with two sets respectively
Determine frame one-to-one corresponding to be connected；Often set end effector mechanism includes track generating unit and posture control unit；The track hair
The first crank that raw unit includes being driven successively by the transmission device, the rotation grooved cam being arranged on first crank and
The first cam bawl in the rotation grooved cam, one end of first cam bawl and a push rod is hinged, described
The other end of push rod is fixed with sliding block, and the sliding block and the chute interaction being fixed on the fixed mount coordinate, the sliding block
Be hinged with first connecting rod, second connecting rod, third connecting rod and the first swing rod successively, the second connecting rod simultaneously with first crank
It is hinged；The second crank that the posture control unit includes being driven by the transmission device is rotated, and is set with second crank
There is the second cam bawl, the fixed mount is provided with fixed grooved cam, and second cam bawl is inlaid in the fixed geosynclinal convex
In wheel, second cam bawl is hinged with a guide block, and the guide block is hinged with fourth link, the second swing rod, the 5th company successively
Bar and pedal；The guide block is slided under the drive of second cam bawl on second crank；Second swing rod
A pin joint is articulated with first swing rod and the third connecting rod simultaneously；The pedal is cut with scissors with the third connecting rod simultaneously
Connect；The first crank or the second crank in two sets of end effector mechanisms of left and right sides is corresponding with 180 ° of phase differences installations.
The utility model realizes the gait rehabilitation robot of walking foot pose, wherein, the power set are at the uniform velocity electric
Machine.It is the first crank and the second crank that the transmission device transmits the power of power set simultaneously.
The utility model has the following advantages that compared with the prior art：Lower limb rehabilitation robot mechanism described in the utility model
Normal human's gait track can be generated, while foot gesture of the people in normal walking can be realized, prior art is overcome
The deficiency of foot pose of the people in normal walking can not accurately be realized.In addition, the utility model need to only use an at the uniform velocity electricity
Machine carries out robot speed's control, simplifies robot control system, reduces manufacturing cost, and then make suitable for general family
With.For exoskeleton robot, the utility model relieves constraint of the robot to patient legs, and comfortableness is more preferably.
Brief description of the drawings
Fig. 1 is overall assembling structural representation of the present utility model.
Fig. 2 is left distal end executing agency schematic diagram right view of the present utility model.
Fig. 3 is left distal end executing agency schematic diagram left view of the present utility model.
In figure：
1- left distal ends executing agency 2- transmission device 3- power set
4- frame 51- bearing block 52- cables
53- supports 54- hangs 6- fixed mounts
7- right ends executing agency 8- bases the first cranks of 101-
102- rotates grooved cam 103- the first cam bawl 104- push rods
105- sliding block 106- chute 107- first connecting rods
108- the first swing rod 109- third connecting rod 110- second connecting rods
The second swing rods of connecting rod 113- of 111- pedals 112- the 5th
114- fourth links 115- fixes grooved cam the second cranks of 116-
117- the second cam bawl 118- guide blocks
Embodiment
Technical solutions of the utility model are described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, the utility model proposes a kind of gait rehabilitation robot for realizing walking foot pose, including machine
Frame 4, power set 3, transmission device 2, the upper end of frame 4 are suspension apparatus, and the lower end of frame 4 is identical provided with two sets of left and right
, the end effector mechanism 1,7 being connected with the transmission device 2, the bottom of the frame 4 is provided with base 8；The power dress
Put 3 to be arranged in the frame 4, for the sake of safety, safety guard is installed in frame 4, filled by the transmission
2 are put, while driving two sets of end effector mechanisms 1,7；Motor used in the power set 3 selects uniform speed electric motor.It is described outstanding
Device for hoisting includes the support 53 for being fixed on the top of frame 4, and the front end of the support 53 is provided with suspension 54, the support 53
Rear end be provided with bearing block 51, the suspension 54 is connected by cable 52 with bearing block 51；The two ends of frame 4 are respectively equipped with one
Fixed mount 6, two sets of end effector mechanisms are corresponded with two sets of fixed mounts 6 respectively to be connected.
As shown in Figures 2 and 3, often set end effector mechanism 1 or 7 includes track generating unit and posture control unit.
By taking the end effector mechanism 1 in left side as an example, wherein the track generating unit is included by the transmission device 2 successively
The first crank 101 driven, the rotation grooved cam 102 that is arranged on first crank 101 and installed in the rotation geosynclinal convex
The first cam bawl 103 in wheel 102, one end of first cam bawl 103 and a push rod 104 is hinged, the push rod
104 other end is fixed with sliding block 105, and the sliding block 105 is matched somebody with somebody with the interaction of a chute 106 being fixed on the fixed mount 6
Close, the sliding block 105 is hinged with first connecting rod 107, second connecting rod 110, the swing rod 108 of third connecting rod 109 and first successively, described
Second connecting rod 110 is hinged with first crank 101 simultaneously.
The second crank 116 that the posture control unit includes being driven by the transmission device 2 is rotated, second crank
The second cam bawl 117 is set with 116, the fixed mount 6 is provided with fixed grooved cam 115, second cam bawl
117 are inlaid in the fixed grooved cam 115, and second cam bawl 117 is hinged with a guide block 118, the guide block 118
Fourth link 114, the second swing rod 113, the 5th connecting rod 112 and pedal 111 are hinged with successively；The guide block 118 is described second
Slided under the drive of cam bawl 117 on second crank 116.
Second swing rod 113 is articulated with a pin joint simultaneously with first swing rod 108 and the third connecting rod 109,
On i.e. described second swing rod 113 have three pin joints respectively with the fourth link 114, the 5th connecting rod 112 and the first swing rod
108 is point articulated with being hinged for third connecting rod 109.The pedal 111 is hinged with the third connecting rod 109 simultaneously；I.e. described 3rd
On connecting rod 109 there are three pin joints to be hinged respectively with first swing rod 108, second connecting rod 110 and the pedal 111.
In the utility model, the first crank 101 or the second crank 116 in two sets of end effector mechanisms of left and right sides are corresponding
Installed with 180 ° of phase differences.The power of power set 3 is passed to the first crank 101 and second by the transmission device 2 simultaneously
Crank 116.
Although the utility model is described above in conjunction with accompanying drawing, the utility model is not limited to above-mentioned
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, the ordinary skill of this area
Personnel are under enlightenment of the present utility model, in the case where not departing from the utility model objective, can also make many variations, this
Belong within protection of the present utility model.
Claims (3)
1. a kind of gait rehabilitation robot for realizing walking foot pose, including frame (4), power set (3), transmission device
(2), frame (4) upper end is suspension apparatus, frame (4) lower end provided with the two sets of identicals in left and right, with the transmission
The connected end effector mechanism (1,7) of device (2), the bottom of the frame (4) is provided with base (8)；Power set (3) peace
In the frame (4), the transmission device (2) is while drive two sets of end effector mechanisms (1,7)；It is characterized in that：
The suspension apparatus includes being fixed on the support (53) above the frame (4), and the front end of the support (53) is provided with outstanding
Hang (54), the rear end of the support (53) is provided with bearing block (51), and the suspension (54) passes through cable (52) and bearing block (51)
It is connected；Frame (4) two ends are respectively equipped with a fixed mount (6), two sets of end effector mechanisms respectively with two sets of fixed mounts (6) one
One correspondence is connected；
Often set end effector mechanism includes track generating unit and posture control unit；
The first crank (101) that the track generating unit includes being driven successively by the transmission device (2), it is arranged on described the
Rotation grooved cam (102) on one crank (101) and the first cam bawl in the rotation grooved cam (102)
(103), first cam bawl (103) and one end of a push rod (104) are hinged, and the other end of the push rod (104) is connected
There is sliding block (105), the sliding block (105) and a chute (106) interaction being fixed on the fixed mount (6) coordinate, the cunning
Block (105) is hinged with first connecting rod (107), second connecting rod (110), third connecting rod (109) and the first swing rod (108), institute successively
Second connecting rod (110) is stated while being hinged with first crank (101)；
The second crank (116) that the posture control unit includes being driven by the transmission device (2) is rotated, second crank
(116) the second cam bawl (117) is set with, the fixed mount (6) is provided with fixed grooved cam (115), and described second is convex
Wheel roller (117) is inlaid in the fixed grooved cam (115), and second cam bawl (117) is hinged with a guide block
(118), the guide block (118) is hinged with fourth link (114), the second swing rod (113), the 5th connecting rod (112) and pedal successively
(111)；The guide block (118) is slided under the drive of second cam bawl (117) on second crank (116)；
Second swing rod (113) is hinged with first swing rod (108) and the third connecting rod (109) while being articulated with one
Point；
The pedal (111) with the third connecting rod (109) while be hinged；
The first crank (101) or the second crank (116) in two sets of end effector mechanisms of left and right sides is corresponding with 180 ° of phase differences
Install.
2. according to claim 1 it is a kind of realize walking foot pose gait rehabilitation robot, it is characterised in that：It is described dynamic
Power apparatus (3) is uniform speed electric motor.
3. a kind of gait rehabilitation robot for realizing walking foot pose according to claim 1 or claim 2, it is characterised in that：Institute
Transmission device (2) is stated by the power of power set (3) while passing to the first crank (101) and the second crank (116).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621047603.8U CN206597136U (en) | 2016-09-10 | 2016-09-10 | A kind of gait rehabilitation robot for realizing walking foot pose |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621047603.8U CN206597136U (en) | 2016-09-10 | 2016-09-10 | A kind of gait rehabilitation robot for realizing walking foot pose |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206597136U true CN206597136U (en) | 2017-10-31 |
Family
ID=60148991
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621047603.8U Withdrawn - After Issue CN206597136U (en) | 2016-09-10 | 2016-09-10 | A kind of gait rehabilitation robot for realizing walking foot pose |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206597136U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106236512A (en) * | 2016-09-10 | 2016-12-21 | 天津大学 | A kind of gait rehabilitation robot realizing walking foot pose |
| CN108433950A (en) * | 2018-04-26 | 2018-08-24 | 沈水秀 | A kind of swing auxiliary patient legs' activity recovery sports equipment of two-person interaction |
| CN108852741A (en) * | 2018-04-10 | 2018-11-23 | 北京空间飞行器总体设计部 | A kind of double leval jib power-assistant running mechanism |
| CN109938967A (en) * | 2019-04-07 | 2019-06-28 | 牛书珍 | A kind of paralysis assistant recovery device |
-
2016
- 2016-09-10 CN CN201621047603.8U patent/CN206597136U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106236512A (en) * | 2016-09-10 | 2016-12-21 | 天津大学 | A kind of gait rehabilitation robot realizing walking foot pose |
| CN106236512B (en) * | 2016-09-10 | 2019-05-31 | 天津大学 | A kind of gait rehabilitation robot for realizing walking foot pose |
| CN108852741A (en) * | 2018-04-10 | 2018-11-23 | 北京空间飞行器总体设计部 | A kind of double leval jib power-assistant running mechanism |
| CN108852741B (en) * | 2018-04-10 | 2020-08-18 | 北京空间飞行器总体设计部 | Four-bar linkage helping hand running gear |
| CN108433950A (en) * | 2018-04-26 | 2018-08-24 | 沈水秀 | A kind of swing auxiliary patient legs' activity recovery sports equipment of two-person interaction |
| CN109938967A (en) * | 2019-04-07 | 2019-06-28 | 牛书珍 | A kind of paralysis assistant recovery device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 300350 District, Jinnan District, Tianjin Haihe Education Park, 135 beautiful road, Beiyang campus of Tianjin University Patentee after: Tianjin University Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |
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| CP02 | Change in the address of a patent holder | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171031 Effective date of abandoning: 20190531 |
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| AV01 | Patent right actively abandoned |