CN206715172U - A kind of measurable more healthy image training robots of pose in real time - Google Patents
A kind of measurable more healthy image training robots of pose in real time Download PDFInfo
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- CN206715172U CN206715172U CN201720406710.3U CN201720406710U CN206715172U CN 206715172 U CN206715172 U CN 206715172U CN 201720406710 U CN201720406710 U CN 201720406710U CN 206715172 U CN206715172 U CN 206715172U
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Abstract
The utility model discloses a kind of measurable more healthy image training robots of pose in real time：Including leg training machine, adjusting means and measurable leg training accessory, the adjusting means include angle adjusting mechanism and drive the horicontal motion mechanism of the angle adjusting mechanism horizontal displacement in real time；The horicontal motion mechanism is arranged with two in parallel, and angle adjusting mechanism and leg training machine are correspondingly provided with each horicontal motion mechanism；The front end of the accessory upper bracket and the be hinged composition revolute pair in upper end of the accessory lower carriage, the rear end of accessory upper bracket are articulated with seat, and the lower end of accessory lower carriage is articulated with foot-operated；And the pin joint position of accessory upper bracket and accessory lower carriage is provided with knee joint angle sensor, the pin joint position of accessory upper bracket and seat is provided with Hip Angle sensor.The utility model can carry out the regulation of different positions and pose, and user can carry out the synchronous/asynchronous planning training of the both legs under different positions and pose.
Description
Technical field：
A kind of measurable more healthy image training robots of pose in real time are the utility model is related to, belongs to rehabilitation medical and motion is strong
Body instrument field.
Background technology：
The reasons such as social senilization's degree is increasingly deepened, cerebral apoplexy, spinal cord injury cause limb function motion to reduce, even
Total loss, quality of life is had a strong impact on.Rehabilitation be recover motor function effective way, conventional physical therapist with
There is the deficiencies of labor intensity is big, medical expense is high in the man-to-man rehabilitation mode of patient, therefore, rehabilitation training equipment solves
The effective way of this contradiction.Many achievements, such as single-degree-of-freedom have been achieved in rehabilitation training equipment since the middle of last century
Formula, ectoskeleton, suspension type etc..But there is following deficiency for they：Complex operation, forms of motion are single, user can not be transported
Dynamic state carries out monitoring in real time, the training for not adapting to a variety of poses etc., and development is a can to survey lower limb rehabilitation machine in real time
People has certain realistic meaning.
Utility model content：
The defects of to overcome prior art, the purpose of this utility model be to provide it is a kind of it is simple and compact for structure, using model
Enclose extensively, rehabilitation and fitness training in lower limb can be applied, can be achieved to crouch, sit, a variety of poses of standing real-time to survey lower limb healthy
Robot.
The utility model solves technical problem and adopted the following technical scheme that：
A kind of measurable more healthy image training robots of pose in real time：
Measurable more healthy image training robots of pose in real time include leg training machine, adjusting means and can surveyed in real time
Formula leg training accessory, the adjusting means include angle adjusting mechanism and drive the water of the angle adjusting mechanism horizontal displacement
Flat motion；
The leg training machine is fixed on the cover plate of the angle adjusting mechanism；
The horicontal motion mechanism is arranged with two in parallel, be correspondingly provided with each horicontal motion mechanism angle adjusting mechanism with
And leg training machine；
Support frame is each provided with two horicontal motion mechanisms, the seat supported by support frame as described above is each described
Controllable slide rail is provided with along the length direction of the horicontal motion mechanism on support frame, the seat can described in by sliding shoe
Control on slide rail.
The measurable leg training accessory in real time includes accessory upper bracket and accessory lower carriage, the accessory upper bracket
Front end and the be hinged composition revolute pair in upper end of the accessory lower carriage, the rear end of accessory upper bracket is articulated with seat, under accessory
The lower end of support is articulated with foot-operated；
Leg pallet is respectively arranged with the accessory upper bracket and accessory lower carriage, and in accessory upper bracket and accessory
The pin joint position of lower carriage is provided with knee joint angle sensor, is provided with the pin joint position of accessory upper bracket and seat
Hip Angle sensor.
Design feature of the present utility model is lain also in：
The accessory upper bracket and accessory lower carriage are two-part structure, adjustable length.
The angle adjusting mechanism includes the cover plate, bottom plate, line handspike；The bottom of between the cover plate and the bottom plate
End edge portion is hinged, and one end of the line handspike and the middle part of cover plate are hinged, and the front end edge of the other end and bottom plate is hinged
Form four-bar mechanism.
The horicontal motion mechanism includes motor, leading screw, guide rail and sliding block, one end of the leading screw by shaft coupling with
The output axis connection of the motor, the other end are connected to form screw pair with the middle part of the sliding block, and the guide rail is used for described
Slider support, guiding；The bottom plate of the angle adjusting mechanism is arranged on the sliding block.
The sliding block of each horicontal motion mechanism is provided with chute, the length of the length direction of the chute perpendicular to guide rail
Direction is spent, the bottom plate of the angle adjusting mechanism, which is arranged in the chute of the sliding block, forms sliding pair.
The opposite sides of two leg training machines are each provided with riding, it is each it is described it is foot-operated in be provided with pressure sensing
Device.
The support frame of the seat is liftable support frame, and handrail is installed with the both sides of the seat, and at two
Bar is connected between handrail, heart rate detection sensor is provided with the bar；One end of the bar is hinged on
Wherein on a handrail, the other end is movably connected on another handrail.
The seat has cushion and backrest, and the cushion is arranged on sliding shoe, and in cushion
The swivel base structure for realizing that seat rotates and fixed is provided between sliding shoe.
Compared with the prior art, the beneficial effects of the utility model are embodied in：
The utility model can carry out the regulation of different positions and pose, and the utility model is adapted to the leg training of different crowd,
The adjusting meanss of both sides and leg training machine can independent operating, user can carry out the synchronous/asynchronous of the both legs under different positions and pose
Planning training.
The utility model can realize it is sleeping, sit, under a variety of poses of standing different tracks leg exercise, main passive health can be achieved
Refreshment is practiced.
The utility model can carry out the regulation of different positions and pose, realize the trajectory planning under different positions and pose.
The utility model is compact-sized flexibly, can be shunk, be occupied little space when not in use with freedom retractable.
The utility model realizes different tracks, the training of different amplitudes, it had both been adapted to same position trainer and exists
Different convalescences and the situation of different physical training conditions, and can meet that the trainer of different heights carries out rehabilitation and exercise
Demand.
During active training, recovery training appliance for recovery use is acted not only as, and can be used as health and fitness facilities to strengthen
Constitution.
The utility model has a wide range of application, and rehabilitation training pattern is various, and active/passive training can be realized simultaneously using process
Measurement in real time and feedback user's training condition such as both legs moving equilibrium state, both legs extended position, exercise heart rate value etc., profit
Rehabilitation training is carried out in user.
Brief description of the drawings：
Fig. 1 is structural representation of the present utility model；Fig. 2 and Fig. 3 is horicontal motion mechanism, governor motion and training airplane
Annexation structural representation.
Label in figure：1 motor, 2 leading screws, 3 guide rails, 4 sliding blocks, 5 bottom plates, 6 cover plates, 7 training airplanes, 8 line handspikes, 9 handrails
Bar, 10 heart rate detection sensors, 11 support frames, 12 seats, 13 controllable slide rails, 14 is foot-operated, 15 pressure sensors, 16 handrails, and 17
Accessory upper bracket, 18 accessory lower carriages, 19 knee joint angle sensors, 20 Hip Angle sensors, 121 cushions, 122
Backrest,
Below by way of embodiment, and with reference to accompanying drawing, the utility model is described in further detail.
Embodiment：
Embodiment：It is of the present utility model in real time measurable more healthy image training robots of pose, it include leg training machine with
Adjusting means, the adjusting means include angle adjusting mechanism and drive the horicontal motion mechanism of angle adjusting mechanism horizontal displacement；
Leg training machine 7 is fixed on the cover plate 6 of angle adjusting mechanism, and the structure of training airplane is shown in 2015104980520
Earlier application, the opposite sides of two training airplanes are each provided with foot-operated 14, and pressure sensor 15 is provided with each foot-operated 14.Can
Detection user's plantar pressure in real time, it is easy to observe user's balance training situation.
Horicontal motion mechanism is arranged with two in parallel, be correspondingly provided with each horicontal motion mechanism angle adjusting mechanism and under
Limb training airplane 7.
Support frame 11 is each provided with two horicontal motion mechanisms, the seat 12 supported by support frame 11, each support frame
Controllable slide rail 13 is provided with along the length direction of horicontal motion mechanism on 11, seat 12 is located at the controllable slide rail 13 by sliding shoe
On.
Foregoing measurable leg training accessory in real time includes accessory upper bracket 17 and accessory lower carriage 18, accessory upper bracket 17
Front end and accessory lower carriage 18 upper end it is be hinged form revolute pair, the rear end of accessory upper bracket 17 is articulated with seat 12, auxiliary
The lower end of tool lower carriage 18 is articulated with foot-operated 14；
Be respectively arranged with leg pallet on accessory upper bracket 17 and accessory lower carriage 18, and accessory upper bracket 17 with it is auxiliary
The pin joint position of tool lower carriage 18 is provided with knee joint angle sensor 19, in accessory upper bracket 17 and the pin joint of seat 12
Position is provided with Hip Angle sensor 20.It can measure in real time and feedback training person's lower extremity movement situation.
Accessory upper bracket 17 and accessory lower carriage 18 are two-part structure, adjustable length, are adapted to the people of different heights.
Angle adjusting mechanism includes cover plate 6, bottom plate 5, line handspike 8；The base of cover plate 6 and the base of bottom plate 5 are mutually cut with scissors
Connecing, line handspike is between cover plate and the forward surface of bottom plate, also, one end of line handspike 8 and the middle part of cover plate 6 are hinged,
The front end edge of the other end and bottom plate 5, which is hinged, forms four-bar mechanism.
Horicontal motion mechanism includes motor 1, leading screw 2, guide rail 3 and sliding block 4, and one end of leading screw passes through shaft coupling and motor
1 output axis connection, the other end are connected to form screw pair with the middle part of sliding block 4, and guide rail 3 is used to sliding block 4 is supported and is oriented to；
The bottom plate 5 of angle adjusting mechanism is fixed on sliding block 4.
Specific to set, above-mentioned line handspike 8 can be electronic, surge, pneumatic and other type of drive, the present embodiment
Using motorized motions.
The sliding block 4 of each horicontal motion mechanism is provided with chute, the length of the length direction of chute perpendicular to guide rail
Direction, the bottom plate 5 of angle adjusting mechanism, which is arranged in the chute of sliding block, forms sliding pair.Make between the training airplane of both sides it is horizontal away from
From adjustable, horizontal range is adjusted between realizing the both legs of user.
Referring to Fig. 1, the support frame 11 of seat is liftable support frame, and handrail 16 is installed with the both sides of seat 12, and
Bar 9 is connected between two handrails 16, heart rate detection sensor 10 is provided with bar 9；One end hinge of bar 9
It is connected on wherein on a handrail 16, the other end is movably connected on another handrail 16.Bar 9 is used to prevent user from leaning forward
And potential safety hazard is produced, and user is further protected, in specific implementation, realizes that dismountable mode is a lot, for example, pin connection, spiral shell
Tether and connect.The middle part of bar 9 is provided with heart rate detection sensor 10, and detection heart rate becomes in real time in user's training process
Change, be easy to observe user's physical condition.
The seat 12 has cushion 121 and backrest 122, and cushion 121 is arranged on sliding shoe, and is being sat
The swivel base structure for realizing that seat rotates and fixed is provided between pad body and sliding shoe.User can be sitting in cushion structure
On be trained, and drive support frame to move up and down by four expansion links in support frame 11 and cushion structure be adjusted to suitable
Height, to meet the needs of different crowd；When it is implemented, expansion link can be electric linear push rod, hydraulic push rod even
It is the flexibles such as turbine and worm, adjustable length, and angle securing rod and angle is controlled by pulley by pressing rotary switch
The separation and combination of locking disk are spent, the rotation and angle for realizing seat are fixed, simple in construction, and can ensure making for device
With stability and security.
The design of backrest, it may be implemented under sitting posture and prone position and perform physical exercise, there are a variety of training postures to be selected for user
Select, pattern is various, has a wide range of application, and increases comfort level.When it is implemented, the structure of existing invertible back support can be used to realize state
Switching, such as, rotated by the motor driving jointed shaft being arranged in cushion 121, automaticity is high.Need in stance
During lower training, cushion structure is raised by expansion link, thigh position is stood through the vacancy of cushion 121, and is passed through
Driving structure adjusts height of seat, to meet stance needs, then can carry out Stance Training.
It is of the present utility model in real time measurable more healthy image training robots of pose can be applied to lower extremity motor function decline or
The training of forfeiture crowd recovers, and helps it easily to realize the rehabilitation training of standard movement track under sleeping, seat, many attitude of standing.It is right
For the general population that lower limb body function perfects, healthy training can also be carried out, helps it to strengthen physical exercise ability, its energy
Consume low and cost-effective, have a wide range of application, there is very big commercial application prospect.
Preferred embodiment of the present utility model is the foregoing is only, is not limited to the utility model, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all in the spirit and principles of the utility model
Within, any modification, equivalent substitution and improvements made etc., it should be included within the scope of protection of the utility model.
Claims (8)
- A kind of 1. measurable more healthy image training robots of pose in real time, it is characterised in that：It is described in real time measurable more healthy image training robots of pose include leg training machine, adjusting means and in real time it is measurable under Limb trains accessory, and the adjusting means includes angle adjusting mechanism and drives the horizontal fortune of the angle adjusting mechanism horizontal displacement Motivation structure；The leg training machine (7) is fixed on the cover plate (6) of the angle adjusting mechanism；The horicontal motion mechanism is arranged with two in parallel, be correspondingly provided with each horicontal motion mechanism angle adjusting mechanism and under Limb training airplane (7)；Support frame (11) is each provided with two horicontal motion mechanisms, the seat supported by support frame as described above (11) (12) controllable slide rail (13), the seat, are provided with along the length direction of the horicontal motion mechanism on each support frame as described above (11) (12) by sliding shoe on the controllable slide rail (13)；The measurable leg training accessory in real time includes accessory upper bracket (17) and accessory lower carriage (18), is propped up on the accessory The front end of frame (17) and the be hinged composition revolute pair in upper end of the accessory lower carriage (18), the rear end of accessory upper bracket (17) is hinged In on seat (12), the lower end of accessory lower carriage (18) is articulated with foot-operated (14)；Leg pallet is respectively arranged with the accessory upper bracket (17) and accessory lower carriage (18), and in accessory upper bracket (17) the pin joint position of accessory lower carriage (18) is provided with knee joint angle sensor (19), accessory upper bracket (17) with The pin joint position of seat (12) is provided with Hip Angle sensor (20).
- A kind of 2. measurable more healthy image training robots of pose in real time according to claim 1, it is characterised in that：The accessory upper bracket (17) and accessory lower carriage (18) are two-part structure, adjustable length.
- A kind of 3. measurable more healthy image training robots of pose in real time according to claim 1, it is characterised in that：The angle adjusting mechanism includes the cover plate (6), bottom plate (5), line handspike (8)；The cover plate (6) and the bottom plate (5) in bottom, edge is hinged between, and one end and the middle part of cover plate (6) of the line handspike (8) are hinged, the other end and bottom The front end edge of plate (5) is be hinged to form four-bar mechanism.
- A kind of 4. measurable more healthy image training robots of pose in real time according to claim 1, it is characterised in that：The horicontal motion mechanism includes motor (1), leading screw (2), guide rail (3) and sliding block (4), one end of the leading screw and passed through The output axis connection of shaft coupling and the motor (1), the other end is connected to form screw pair with the middle part of the sliding block (4), described Guide rail (3) is used for the slider support, guiding；The bottom plate (5) of the angle adjusting mechanism is arranged on the sliding block (4).
- A kind of 5. measurable more healthy image training robots of pose in real time according to claim 4, it is characterised in that：The sliding block (4) of each horicontal motion mechanism is provided with chute, the length of the length direction of the chute perpendicular to guide rail Direction is spent, the bottom plate (5) of the angle adjusting mechanism, which is arranged in the chute of the sliding block, forms sliding pair.
- A kind of 6. measurable more healthy image training robots of pose in real time according to claim 1, it is characterised in that：The opposite sides of two leg training machines (7) are each provided with riding (14), and pressure is provided with each foot-operated (14) Force snesor (15).
- A kind of 7. measurable more healthy image training robots of pose in real time according to claim 1, it is characterised in that：The support frame (11) of the seat is liftable support frame, and handrail (16) is installed with the both sides of the seat (12), And bar (9) is connected between two handrails (16), heart rate detection sensor (10) is provided with the bar (9)； One end of the bar (9) is hinged wherein on a handrail (16), and the other end is movably connected on another handrail (16).
- A kind of 8. measurable more healthy image training robots of pose in real time according to claim 7, it is characterised in that：The seat (12) has cushion (121) and backrest (122), and the cushion (121) is arranged on sliding shoe On, and the swivel base structure for realizing that seat rotates and fixed is provided between cushion and sliding shoe.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017203860687 | 2017-04-13 | ||
| CN201720386068 | 2017-04-13 |
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| CN206715172U true CN206715172U (en) | 2017-12-08 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106890430A (en) * | 2017-04-13 | 2017-06-27 | 合肥工业大学 | A kind of measurable many healthy image training robots of pose in real time |
| CN110051509A (en) * | 2019-06-04 | 2019-07-26 | 河南科技大学第一附属医院 | A kind of nursing leg support device |
| CN110353945A (en) * | 2019-07-29 | 2019-10-22 | 武汉轻工大学 | A kind of lower limb rehabilitation robot of multi-locomotion mode |
| CN113855476A (en) * | 2021-09-02 | 2021-12-31 | 燕山大学 | Multi-posture lower limb rehabilitation robot based on parallel mechanism and control method thereof |
-
2017
- 2017-04-18 CN CN201720406710.3U patent/CN206715172U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106890430A (en) * | 2017-04-13 | 2017-06-27 | 合肥工业大学 | A kind of measurable many healthy image training robots of pose in real time |
| CN110051509A (en) * | 2019-06-04 | 2019-07-26 | 河南科技大学第一附属医院 | A kind of nursing leg support device |
| CN110051509B (en) * | 2019-06-04 | 2021-07-06 | 河南科技大学第一附属医院 | Supporting device for leg nursing |
| CN110353945A (en) * | 2019-07-29 | 2019-10-22 | 武汉轻工大学 | A kind of lower limb rehabilitation robot of multi-locomotion mode |
| CN110353945B (en) * | 2019-07-29 | 2024-01-26 | 武汉轻工大学 | Lower limb rehabilitation robot with multiple movement modes |
| CN113855476A (en) * | 2021-09-02 | 2021-12-31 | 燕山大学 | Multi-posture lower limb rehabilitation robot based on parallel mechanism and control method thereof |
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