CN206630838U - The four limbs linkage recovery exercising robot of normal gait track can be achieved - Google Patents
The four limbs linkage recovery exercising robot of normal gait track can be achieved Download PDFInfo
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- CN206630838U CN206630838U CN201621211080.6U CN201621211080U CN206630838U CN 206630838 U CN206630838 U CN 206630838U CN 201621211080 U CN201621211080 U CN 201621211080U CN 206630838 U CN206630838 U CN 206630838U
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Abstract
The utility model discloses a kind of four limbs linkage recovery exercising robot that can realize normal gait track, including frame, power set, transmission system and pedal；Transmission system is made up of drive sprocket, chain, driven sprocket and power transmission shaft；Two sets of motion assistant systems of structure identical have been symmetrically distributed at left and right sides of frame, motion assistant system has often been covered and the cam link mechanism formed is connected with four-bar mechanism by cam mechanism；The end of two sets of motion assistant systems is respectively connecting to two pedals；A point C on connecting rod is hinged with pedal；Cam mechanism is used for the length for controlling crank；Crank in two sets of motion assistant systems is installed with 180 ° of phase difference.The utility model can produce accurately gait track, solve the problems, such as that general gait rehabilitation mechanism path and normal gait trajector deviation are larger.Both the completion rehabilitation training for using motor driven motion assistant system passive can be selected, can also select to complete rehabilitation training on one's own initiative with hand operation handrail.
Description
Technical field
It the utility model is related to a kind of rehabilitation medical instrument and the robot of field of exercise, and in particular to one kind can be real
The four limbs linkage recovery exercising robot of existing normal gait track.
Background technology
Investigation display, has a considerable amount of people to cause lower limb disorder due to reasons such as disease, traffic accidents every year.
Correlative study shows, for the crowd of motion disability, carries out rational rehabilitation training as early as possible, can promote corticocerebral plastic
Sexual development, recover limb function, effectively alleviate illness, reduce disabled degree, reduce complication.Using neural plasticity principle as
The Repetitive training on basis can realize brain in patients function integrity, be expected to make the gradual health of patient by mechanical device supplemental training
It is multiple.The application of part body weight support treadmill training (PBWSTT) clinically is namely based on above-mentioned principle.Patient carries out Unweighting walking instruction
When practicing, two rehabilitations teacher are generally required to aid in, but the limited amount of rehabilitation teacher, it is difficult to meet the needs of patient, also can not
Ensure the rehabilitation training time and intensity of patient, the actual efficacy of this rehabilitation training for making to need human assistance is restricted.For
This, the researcher of the developed country such as America and Europe, Japan and medical institutions take the lead in expanding the research to healing robot technology,
The more maturation of research at present has Lokomat, LOPES, ALEX and NaTUre-gaits etc..These robots are answered due to structure
It is miscellaneous, it is expensive, it is difficult to be applied among general family.
In addition to a small number of exoskeleton-type lower limb rehabilitation robot energy approximations realize normal gait track, most of foot driving
There is certain deviation track and human normal gait track achieved by healing robot, cause user prolonged exercise it
Gait is not consistent with natural gait afterwards, and muscle launch modes influence rehabilitation training effect different from ordinary person.
Utility model content
A kind of the utility model part in view of the shortcomings of the prior art, there is provided new achievable normal gait track
Recovery exercising robot.It can be set using the utility model according to the physical trait and rehabilitation theory of rehabilitation training person
Meter, solves rehabilitation training track and the unmatched problem in natural gait track, can produce and be matched with rehabilitation training person
Standard gait track, complete the rehabilitation exercise motion of whole lower limb by driving foot motion.The utility model structure
Simply, it is only necessary to which a motor can complete rehabilitation training, and cost is relatively low, be well suited for being used for average family.In addition, this practicality is new
Type can both move the passive rehabilitation training for completing four limbs linkage of patient by motor driven belts, can also be rotated and helped by hand
Hand completes rehabilitation training on one's own initiative, is adapted to rehabilitation or the fitness training object of different demands.Simple in construction, cost is relatively low,
It is adapted to be extended to general family's use.
In order to solve existing technical problem, the utility model proposes a kind of achievable normal gait track four limbs connection
Dynamic recovery exercising robot, including frame, power set, transmission system and two pedals；The transmission system is by drive chain
Wheel, chain, driven sprocket and power transmission shaft composition, the drive sprocket are arranged on the output shaft of the reducing motor；The machine
Two sets of motion assistant systems are symmetrically distributed at left and right sides of frame, the end of two sets of motion assistant systems is respectively connecting to
Two pedals；The structure of two sets of motion assistant systems is identical；It is by cam mechanism and four-bar mechanism often to cover motion assistant system
Connect the cam-link mechanism of composition；The band that the cam mechanism includes being bolted in the frame is fluted
Cam, the groove of the cam is interior to be provided with cam bawl；The linkage includes what is be connected successively with adjustable length crank
Connecting rod and swing rod；The adjustable length crank is made up of first paragraph crank and second segment crank, and the one of the first paragraph crank
End is connected with the transmission shaft bond, and one end and the cam bawl of the second segment crank are hinged, in the second segment crank
Provided with slide rail, the other end of the first paragraph crank is inserted into the slide rail of the second segment crank, and can be along second segment crank
Length direction slide；One end of the connecting rod and the other end of second segment crank are hinged, the connecting rod other end and the pendulum
One end of bar is hinged, and the swing rod and frame are articulated with point B, and the other end of the swing rod is provided with handrail, and one on the connecting rod
Point C is hinged with the pedal；The cam mechanism is used for the length for controlling crank；Crank in two sets of motion assistant systems with
180 ° of phase difference installation.The power set are the swing rod ends that reducing motor or two are arranged on two sets of motion assistant systems
The handrail in portion.
The advantages of the utility model is relative to prior art：The utility model can realize the gait track of human normal,
There is more preferable rehabilitation performance compared to other ends driving recovery exercising robot.Patient can both select to be transported with motor driven
The passive completion rehabilitation training of dynamic auxiliary system, it can also select to complete rehabilitation training on one's own initiative with hand operation handrail.This practicality
It is new to realize that limb coordination is trained, it both can be used for rehabilitation training, can be used for fitness training, simple in construction, cost
It is relatively low, it is adapted to be extended to general family's use.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model four limbs linkage recovery exercising robot.
Fig. 2 is the structural representation of unilateral motion assistant system.
In figure：
1- frame 2- power transmission shaft 3- driven sprockets
4- motion assistant system 5- chain 6- drive sprockets
7- reducing motor 40- cam 41- first paragraph cranks
42- cam bawl 43- second segment crank 44- handrails
45- swing rod 46- connecting rod 47- pedals
The pin joint of A- crank pivot B- swing rods pivot C- connecting rods and pedal
The movement locus of G-C points
Embodiment
Technical solutions of the utility model are described in detail with reference to the accompanying drawings and detailed description.
As shown in Figure 1：The utility model proposes a kind of achievable normal gait track four limbs link rehabilitation trainer
Device people, including frame 1, power set, transmission system and two pedals 47；The transmission system by drive sprocket 6, chain 5,
Driven sprocket 3 and power transmission shaft 2 are formed, and the drive sprocket 6 is arranged on the output shaft of the reducing motor 7；The frame 1
The left and right sides has been symmetrically distributed two sets of motion assistant systems 4, and the power set pass through transmission system and motion assistant system 4
It is connected, driving force is provided for the motion auxiliary decorum 4.
The end of two sets of motion assistant systems is respectively connecting to two pedals 47.
In the utility model, the structure of two sets of motion assistant systems 4 is identical, as shown in Fig. 2 often set motion assistant system is
The cam-link mechanism formed is connected with four-bar mechanism by cam mechanism；The cam mechanism includes being bolted on institute
The fluted cam 40 of band in frame 1 is stated, cam bawl 42 is provided with the groove of the cam 40；The linkage includes
The connecting rod 46 and swing rod 45 being connected successively with adjustable length crank；The adjustable length crank is by first paragraph crank 41 and
Two sections of cranks 43 are formed, one end of the first paragraph crank 41 and the key connection of power transmission shaft 2, and the one of the second segment crank 43
End is be hinged with the cam bawl 42, is provided with slide rail in the second segment crank 43, the other end of the first paragraph crank 41 is inserted
In the slide rail of the second segment crank 43, and it can be slided along the length direction of second segment crank 43；The one of the connecting rod 46
The other end with second segment crank 43 is held to be hinged, one end of the other end of connecting rod 46 and the swing rod 45 is hinged, the swing rod
45 are articulated with point B with frame 1, and the other end of the swing rod 45 is provided with handrail 44, and the point C on the connecting rod 46 rides with described
Plate 47 is be hinged；The cam mechanism is used for the length for controlling crank.As shown in figure 1, crank in two sets of motion assistant systems 4 with
180 ° of phase difference installation.Reducing motor 7 drives power transmission shaft 2 to rotate to drive whole crank to rotate by Chain conveyer, and crank turns
Its length changes with the rotation of cam 40 during dynamic, and motion assistant system 4 drives two pedals 47 respectively according to such as
Movement locus do action in Fig. 2 shown in G, so as to help to stand, the user on two pedals 47 completes rehabilitation training.
The utility model both can drive user to complete passive rehabilitation training by reducing motor 7, can also pass through
Rotary handle 44 completes rehabilitation training on one's own initiative, i.e., described power set are that reducing motor 7 or two are arranged on two sets of motions
The handrail 44 of the swing link end part of accessory system 4.It is auxiliary with moving by transmission device if the power set are reducing motors 7
Auxiliary system is connected, and driving force (described above) is provided for the motion auxiliary decorum., can be by turning if being driven without reducing motor 7
Dynamic handrail 44 completes rehabilitation training on one's own initiative.
During rehabilitation training, first paragraph crank 41 produces rotation under the drive of power set and transmission system
Motion, on the one hand the rotation of first paragraph crank 41 drives the rotation of first paragraph crank 43, in pedal 47 and the pin joint of connecting rod 46
Place produces specific movement locus, on the other hand by cam bawl 42 in the groove of cam 40 along crank pivot A
Roll, and then drive first paragraph crank 41 to be moved along the length direction of second segment crank 43, so as to change second segment crank 43
The distance of pin joint between connecting rod 46 to crank pivot A.The utility model is variable by the way that crank is designed as into length
Crank, so as to be modified to the tracks of C points, the track of pedal 47 is more nearly human normal gait track.This reality
With it is new it is middle the motion assistant system of both sides is designed as identical structure, and be according to crank phase difference for 180 ° peace
Dress, user's foot are connected with the pedal 47 of motion assistant system 4, and the foot movement of user is guided by pedal 47,
Rehabilitation training is carried out using the utility model, Anklebone track overlaps with target trajectory point, and hand is connected with two handrails 44, enters
And complete the rehabilitation training of four limbs linkage.
The mechanism size of the utility model motion assistant system 4 can be designed according to human normal gait track, from
And personalized rehabilitation training demand can be realized.First, the chi of four-bar mechanism is obtained according to human normal gait track, optimization
It is very little, then using crank length as dependent variable, obtained accurately by the crank length needed for target trajectory point by Inverse Kinematics Solution
Variable quantity, as cam pitch curve.Slided using first paragraph crank and the inserting of second segment crank so that whole crank with
The rotation of cam and change length, so as to reduce the size of cam in the case where meeting kinematics performance.
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 aims, can also make many variations, this
Belong within protection of the present utility model.
Claims (1)
1. a kind of four limbs linkage recovery exercising robot of achievable normal gait track, including frame (1), power set, biography
Dynamic system and two pedals (47)；The transmission system is by drive sprocket (6), chain (5), driven sprocket (3) and power transmission shaft
(2) form, the drive sprocket (6) is arranged on the output shaft of reducing motor (7)；The left and right sides of the frame (1) is symmetrical
Two sets of motion assistant systems (4) are distributed with ground, and the end of two sets of motion assistant systems is respectively connecting to two pedals
(47)；It is characterized in that：
The structure of two sets of motion assistant systems (4) is identical；
Often set motion assistant system connects the cam-link mechanism formed with four-bar mechanism by cam mechanism；The cam machine
Structure includes the fluted cam of band (40) being bolted in the frame (1), is set in the groove of the cam (40)
There is cam bawl (42)；The linkage includes the connecting rod (46) and swing rod (45) being connected successively with adjustable length crank；
The adjustable length crank is made up of first paragraph crank (41) and second segment crank (43), and the one of the first paragraph crank (41)
End and the power transmission shaft (2) key connection, one end of the second segment crank (43) is be hinged with the cam bawl (42), and described the
Slide rail is provided with two sections of cranks (43), the other end of the first paragraph crank (41) is inserted into the cunning of the second segment crank (43)
In rail, and it can be slided along the length direction of second segment crank (43)；One end of the connecting rod (46) and second segment crank (43)
The other end is hinged, and one end of connecting rod (46) other end and the swing rod (45) is hinged, and the swing rod (45) is cut with scissors with frame (1)
It is connected to point B, the other end of the swing rod (45) is provided with handrail (44), a point C and the pedal on the connecting rod (46)
(47) it is hinged；The cam mechanism is used for the length for controlling crank；
Crank in two sets of motion assistant systems (4) is installed with 180 ° of phase difference；
The power set are helping for reducing motor (7) or two swing link end parts for being arranged on two sets of motion assistant systems (4)
Hand (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621211080.6U CN206630838U (en) | 2016-11-09 | 2016-11-09 | The four limbs linkage recovery exercising robot of normal gait track can be achieved |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621211080.6U CN206630838U (en) | 2016-11-09 | 2016-11-09 | The four limbs linkage recovery exercising robot of normal gait track can be achieved |
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| CN206630838U true CN206630838U (en) | 2017-11-14 |
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|---|---|---|---|
| CN201621211080.6U Active CN206630838U (en) | 2016-11-09 | 2016-11-09 | The four limbs linkage recovery exercising robot of normal gait track can be achieved |
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| CN (1) | CN206630838U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106473897A (en) * | 2016-11-09 | 2017-03-08 | 天津大学 | The four limbs linkage recovery exercising robot of achievable normal gait track |
| 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 |
| CN109833184A (en) * | 2017-11-29 | 2019-06-04 | 上海理工大学 | A kind of compound crank link mechanism and lower limb rehabilitation training device |
| CN110547944A (en) * | 2019-08-28 | 2019-12-10 | 南通市第二人民医院 | Walking gait correction trainer for hemiplegic patient |
-
2016
- 2016-11-09 CN CN201621211080.6U patent/CN206630838U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106473897A (en) * | 2016-11-09 | 2017-03-08 | 天津大学 | The four limbs linkage recovery exercising robot of achievable normal gait track |
| CN109833184A (en) * | 2017-11-29 | 2019-06-04 | 上海理工大学 | A kind of compound crank link mechanism and lower limb rehabilitation training device |
| CN109833184B (en) * | 2017-11-29 | 2021-05-04 | 上海理工大学 | Compound crank-link mechanism and lower limb rehabilitation training device |
| 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 |
| CN110547944A (en) * | 2019-08-28 | 2019-12-10 | 南通市第二人民医院 | Walking gait correction trainer for hemiplegic patient |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
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| 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 |