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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- 210000000629 knee joint Anatomy 0.000 claims description 4
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- 210000003141 lower extremity Anatomy 0.000 description 16
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Abstract
本实用新型公开了一种实时可测式多位姿康健训练机器人：包括下肢训练机、调节装置以及实时可测式下肢训练辅具，所述调节装置包括角度调节机构和带动所述角度调节机构水平位移的水平运动机构；所述水平运动机构平行设置有两个，各水平运动机构上对应设有角度调节机构以及下肢训练机；所述辅具上支架的前端与所述辅具下支架的上端铰接构成转动副，辅具上支架的后端铰接于座椅上，辅具下支架的下端铰接于脚踏上；并在辅具上支架与辅具下支架的铰接点位置设置有膝关节角度传感器，在辅具上支架与座椅的铰接点位置设置有髋关节角度传感器。本实用新型可进行不同位姿的调节，使用者可进行在不同位姿下双腿的同步/异步规划训练。
The utility model discloses a real-time measurable multi-posture health training robot, which includes a lower limb training machine, an adjustment device and a real-time measurable lower limb training aid, the adjustment device includes an angle adjustment mechanism and drives the angle adjustment mechanism Horizontal movement mechanism for horizontal displacement; two horizontal movement mechanisms are arranged in parallel, each horizontal movement mechanism is equipped with an angle adjustment mechanism and a lower limb training machine; The upper end is hinged to form a rotating pair, the rear end of the upper bracket of the auxiliary device is hinged on the seat, and the lower end of the lower bracket of the auxiliary device is hinged on the pedal; and a knee joint is set at the hinge point of the upper bracket of the auxiliary device and the lower bracket of the auxiliary device An angle sensor is provided with a hip joint angle sensor at the position of the hinge point of the bracket on the auxiliary device and the seat. The utility model can adjust different postures, and users can perform synchronous/asynchronous planning training of both legs under different postures.
Description
技术领域：Technical field:
本实用新型涉及一种实时可测式多位姿康健训练机器人，属于康复医疗和运动健身器械领域。The utility model relates to a real-time measurable multi-pose health training robot, which belongs to the fields of rehabilitation medicine and sports fitness equipment.
背景技术：Background technique:
社会老龄化程度日益加深、脑卒中、脊髓损伤等原因导致肢体功能运动降低，甚至全部丧失，严重影响了生活质量。康复治疗是恢复运动功能的有效途径，传统物理治疗师与病人一对一的康复治疗方式存在劳动强度大、治疗费用高等不足，因此，康复训练设备解决这一矛盾的有效途径。从上世纪中叶以来在康复训练设备上取得了诸多成果，如单自由度式、外骨骼、悬吊式等。但它们存在着以下不足：操作复杂、运动形式单一、不能对使用者运动状态进行实时监测、不能适应多种位姿的训练等，研制一款能够实时可测下肢康复机器人具有一定现实意义。The increasing degree of aging society, stroke, spinal cord injury and other reasons lead to the reduction of limb function and movement, or even complete loss, which seriously affects the quality of life. Rehabilitation treatment is an effective way to restore motor function. The traditional one-on-one rehabilitation treatment method between physical therapists and patients has the disadvantages of high labor intensity and high treatment costs. Therefore, rehabilitation training equipment is an effective way to solve this contradiction. Since the middle of the last century, many achievements have been made in rehabilitation training equipment, such as single-degree-of-freedom, exoskeleton, suspension and so on. However, they have the following shortcomings: complex operation, single movement form, inability to monitor the user's movement state in real time, and inability to adapt to training in various poses. It is of practical significance to develop a real-time measurable lower limb rehabilitation robot.
实用新型内容：Utility model content:
为克服现有技术的缺陷，本实用新型的目的在于提供一种结构简单紧凑、应用范围广泛、能应用在下肢的康复和健身训练，可实现卧、坐、站多种位姿的实时可测下肢康健机器人。In order to overcome the defects of the prior art, the purpose of this utility model is to provide a simple and compact structure, a wide range of applications, which can be applied to the rehabilitation and fitness training of the lower limbs, and can realize real-time measurement of various postures of lying, sitting and standing. Lower Limb Health Robot.
本实用新型解决技术问题采用如下技术方案：The utility model solves the technical problem and adopts the following technical solutions:
一种实时可测式多位姿康健训练机器人：A real-time measurable multi-position health training robot:
所述实时可测式多位姿康健训练机器人包括下肢训练机、调节装置以及实时可测式下肢训练辅具，所述调节装置包括角度调节机构和带动所述角度调节机构水平位移的水平运动机构；The real-time measurable multi-pose health training robot includes a lower limb training machine, an adjustment device and a real-time measurable lower limb training aid, and the adjustment device includes an angle adjustment mechanism and a horizontal motion mechanism that drives the horizontal displacement of the angle adjustment mechanism ;
所述下肢训练机固定设于所述角度调节机构的盖板上；The lower limb training machine is fixed on the cover plate of the angle adjustment mechanism;
所述水平运动机构平行设置有两个，各水平运动机构上对应设有角度调节机构以及下肢训练机；There are two horizontal motion mechanisms arranged in parallel, and an angle adjustment mechanism and a lower limb training machine are correspondingly provided on each horizontal motion mechanism;
在两个所述水平运动机构上各自设有支撑架，由所述支撑架支撑的座椅，各所述支撑架上沿所述水平运动机构的长度方向设有可控滑轨，所述座椅通过滑动块设于所述可控滑轨上。A support frame is respectively provided on the two described horizontal motion mechanisms, and a seat supported by the support frame is provided with a controllable slide rail along the length direction of the horizontal motion mechanism on each of the support frames. The chair is arranged on the controllable slide rail through the slide block.
所述实时可测式下肢训练辅具包括辅具上支架和辅具下支架，所述辅具上支架的前端与所述辅具下支架的上端铰接构成转动副，辅具上支架的后端铰接于座椅上，辅具下支架的下端铰接于脚踏上；The real-time measurable lower limb training auxiliary device includes an auxiliary device upper bracket and an auxiliary device lower bracket. The front end of the auxiliary device upper bracket is hinged with the upper end of the auxiliary device lower bracket to form a rotating pair. It is hinged on the seat, and the lower end of the lower bracket of the auxiliary device is hinged on the pedal;
在所述辅具上支架和辅具下支架上分别设置有腿部托盘，并在辅具上支架与辅具下支架的铰接点位置设置有膝关节角度传感器，在辅具上支架与座椅的铰接点位置设置有髋关节角度传感器。A leg tray is respectively arranged on the upper bracket of the auxiliary device and the lower bracket of the auxiliary device, and a knee joint angle sensor is arranged at the hinge point of the upper bracket of the auxiliary device and the lower bracket of the auxiliary device, and the upper bracket of the auxiliary device and the seat The hinge point position is provided with a hip joint angle sensor.
本实用新型的结构特点也在于：Structural features of the present utility model also are:
所述辅具上支架和辅具下支架均为两段式结构，长度可调。Both the upper bracket of the auxiliary device and the lower bracket of the auxiliary device are of two-stage structure, and the length is adjustable.
所述角度调节机构包括所述盖板、底板、直线推杆；所述盖板与所述底板之间在底端边部相互铰接，所述直线推杆的一端与盖板的中部铰接，另一端与底板的前端边部铰接形成四杆机构。The angle adjustment mechanism includes the cover plate, the base plate, and the linear push rod; the cover plate and the base plate are hinged at the bottom edge, one end of the linear push rod is hinged with the middle of the cover plate, and the other One end is hinged with the front edge of the bottom plate to form a four-bar mechanism.
所述水平运动机构包括电机、丝杠、导轨以及滑块，所述丝杠的一端通过联轴器与所述电机的输出轴连接，另一端与所述滑块的中部连接形成螺旋副，所述导轨用于对所述滑块支撑、导向；所述角度调节机构的底板设置于所述滑块上。The horizontal motion mechanism includes a motor, a lead screw, a guide rail and a slide block. One end of the lead screw is connected to the output shaft of the motor through a coupling, and the other end is connected to the middle of the slide block to form a spiral pair. The guide rail is used to support and guide the slider; the bottom plate of the angle adjustment mechanism is arranged on the slider.
每个水平运动机构的所述滑块上设有滑槽，所述滑槽的长度方向垂直于导轨的长度方向，所述角度调节机构的底板设置于所述滑块的滑槽中形成滑动副。The slide block of each horizontal motion mechanism is provided with a chute, the length direction of the chute is perpendicular to the length direction of the guide rail, and the bottom plate of the angle adjustment mechanism is arranged in the chute of the slide block to form a sliding pair .
两个所述下肢训练机的相向侧各设置有脚踏，在各所述脚踏中设置有压力传感器。A pedal is provided on opposite sides of the two lower limb training machines, and a pressure sensor is provided in each pedal.
所述座椅的支撑架为可升降的支撑架，在所述座椅的两侧固设有扶手，并在两个扶手之间连接有扶手杆，在所述扶手杆上设有心率检测传感器；所述扶手杆的一端铰接在其中一根扶手上，另一端活动连接在另一根扶手上。The support frame of the seat is a liftable support frame, armrests are fixed on both sides of the seat, and an armrest bar is connected between the two armrests, and a heart rate detection sensor is arranged on the armrest bar ; One end of the handrail rod is hinged on one of the handrails, and the other end is movably connected to the other handrail.
所述座椅具有坐垫本体以及靠背，所述坐垫本体设置在滑动块上，并在坐垫本体与滑动块之间设置有实现座椅旋转并固定的旋转底盘结构。The seat has a cushion body and a backrest, the cushion body is arranged on a sliding block, and a rotating chassis structure for realizing rotation and fixing of the seat is arranged between the cushion body and the sliding block.
与已有技术相比，本实用新型的有益效果体现在：Compared with the prior art, the beneficial effects of the utility model are reflected in:
本实用新型可进行不同位姿的调节，本实用新型可以适应不同人群的腿部训练，两侧的调节装置与下肢训练机可独立运行，使用者可进行在不同位姿下双腿的同步/异步规划训练。The utility model can adjust different postures, and the utility model can adapt to the leg training of different groups of people. The adjustment devices on both sides and the lower limb training machine can operate independently, and the user can synchronize the legs in different postures. Asynchronous planning training.
本实用新型可以实现卧、坐、站多种位姿下不同轨迹的腿部运动，可实现主被动康复训练。The utility model can realize leg movements with different trajectories in multiple postures of lying, sitting and standing, and can realize active and passive rehabilitation training.
本实用新型可进行不同位姿的调节，实现在不同位姿下的轨迹规划。The utility model can adjust different postures and realize track planning under different postures.
本实用新型结构紧凑灵活，可以自由收放，不使用时可以收缩，占用空间小。The utility model has a compact and flexible structure, can be retracted freely, can shrink when not in use, and occupies little space.
本实用新型实现不同轨迹、不同幅度的运动训练，使其既能适应同一位训练者在不同的康复期和不同训练状态的情况，又能满足不同身高的训练者进行康复和健身锻炼的需求。The utility model realizes exercise training with different trajectories and different amplitudes, so that it can not only adapt to the situation of the same trainer in different rehabilitation periods and different training states, but also meet the needs of trainers of different heights for rehabilitation and fitness exercises.
主动训练时，不仅可以作为康复训练器使用，而且能够作为健身器械使用来增强体质。When actively training, it can not only be used as a rehabilitation training device, but also can be used as a fitness equipment to enhance physical fitness.
本实用新型应用范围广，康复训练模式多样，使用过程可以实现主动/被动训练并实时测量和反馈使用者训练状况如双腿运动平衡状态、双腿舒展状态，运动时心率值等，利于使用者进行康复训练。The utility model has a wide range of applications and various rehabilitation training modes. During use, active/passive training can be realized and real-time measurement and feedback of the user's training status, such as the state of the balance of the movement of the legs, the state of the stretch of the legs, and the heart rate value during exercise, is beneficial to the user. Do rehabilitation training.
附图说明：Description of drawings:
图1为本实用新型的结构示意图；图2和图3为水平运动机构、调节机构及训练机的连接关系结构示意图。Fig. 1 is a structural schematic diagram of the utility model; Fig. 2 and Fig. 3 are the structural schematic diagrams of the connection relation of the horizontal movement mechanism, the adjustment mechanism and the training machine.
图中标号：1电机，2丝杠，3导轨，4滑块，5底板，6盖板，7训练机，8直线推杆，9扶手杆，10心率检测传感器，11支撑架，12座椅，13可控滑轨，14脚踏，15压力传感器，16扶手，17辅具上支架，18辅具下支架，19膝关节角度传感器，20髋关节角度传感器，121坐垫本体，122靠背，Labels in the figure: 1 motor, 2 lead screw, 3 guide rail, 4 slider, 5 bottom plate, 6 cover plate, 7 training machine, 8 linear actuator, 9 handrail rod, 10 heart rate detection sensor, 11 support frame, 12 seat , 13 controllable slide rails, 14 pedals, 15 pressure sensors, 16 armrests, 17 upper support for auxiliary equipment, 18 lower support for auxiliary equipment, 19 knee joint angle sensor, 20 hip joint angle sensor, 121 cushion body, 122 backrest,
以下通过具体实施方式，并结合附图对本实用新型作进一步说明。The utility model will be further described below through specific embodiments in conjunction with the accompanying drawings.
具体实施方式：detailed description:
实施例：本实用新型的实时可测式多位姿康健训练机器人，其包括下肢训练机和调节装置，该调节装置包括角度调节机构和带动角度调节机构水平位移的水平运动机构；Embodiment: The real-time measurable multi-pose health training robot of the present utility model includes a lower limb training machine and an adjustment device, and the adjustment device includes an angle adjustment mechanism and a horizontal motion mechanism that drives the horizontal displacement of the angle adjustment mechanism;
下肢训练机7固定设于角度调节机构的盖板6上，训练机的结构见2015104980520在先申请，两个训练机的相向侧各自设置有脚踏14，在各脚踏14中设置有压力传感器15。可实时检测使用者足底压力，便于观察使用者训练平衡状况。The lower limb training machine 7 is fixed on the cover plate 6 of the angle adjustment mechanism. For the structure of the training machine, see the prior application of 2015104980520. The opposite sides of the two training machines are respectively provided with pedals 14, and pressure sensors are provided in each pedal 14 15. It can detect the user's plantar pressure in real time, which is convenient for observing the user's training balance.
水平运动机构平行设置有两个，各水平运动机构上对应设有角度调节机构以及下肢训练机7。Two horizontal motion mechanisms are arranged in parallel, and an angle adjustment mechanism and a lower limb training machine 7 are correspondingly provided on each horizontal motion mechanism.
在两个水平运动机构上各自设有支撑架11，由支撑架11支撑的座椅12，各支撑架11上沿水平运动机构的长度方向设有可控滑轨13，座椅12通过滑动块设于所述可控滑轨13上。Two horizontal motion mechanisms are respectively provided with a support frame 11, and the seat 12 supported by the support frame 11 is provided with a controllable slide rail 13 along the length direction of the horizontal motion mechanism on each support frame 11, and the seat 12 passes through the sliding block. Set on the controllable slide rail 13.
前述实时可测式下肢训练辅具包括辅具上支架17和辅具下支架18，辅具上支架17的前端与辅具下支架18的上端铰接构成转动副，辅具上支架17的后端铰接于座椅12上，辅具下支架18的下端铰接于脚踏14上；The aforementioned real-time measurable lower limb training aids include an upper aid bracket 17 and an aid lower bracket 18, the front end of the aid upper bracket 17 is hinged with the upper end of the aid lower bracket 18 to form a revolving pair, and the rear end of the aid upper bracket 17 It is hinged on the seat 12, and the lower end of the lower bracket 18 of the auxiliary device is hinged on the pedal 14;
在辅具上支架17和辅具下支架18上分别设置有腿部托盘，并在辅具上支架17与辅具下支架18的铰接点位置设置有膝关节角度传感器19，在辅具上支架17与座椅12的铰接点位置设置有髋关节角度传感器20。可实时测量和反馈训练者下肢运动状况。A leg tray is respectively arranged on the auxiliary device upper bracket 17 and the auxiliary device lower bracket 18, and a knee joint angle sensor 19 is arranged at the hinge point position of the auxiliary device upper bracket 17 and the auxiliary device lower bracket 18. 17 and the hinge point position of seat 12 are provided with hip joint angle sensor 20. Real-time measurement and feedback of the exercise status of the trainer's lower limbs.
辅具上支架17和辅具下支架18均为两段式结构，长度可调，适应于不同身高的人。The upper bracket 17 of the auxiliary equipment and the lower bracket 18 of the auxiliary equipment are two-stage structures with adjustable lengths, which are suitable for people of different heights.
角度调节机构包括盖板6、底板5、直线推杆8；盖板6的底边与底板5的底边相互铰接，直线推杆处于盖板与底板的相向面之间，并且，直线推杆8的一端与盖板6的中部铰接，另一端与底板5的前端边部铰接形成四杆机构。The angle adjustment mechanism includes a cover plate 6, a bottom plate 5, and a linear push rod 8; the bottom edge of the cover plate 6 is hinged to the bottom edge of the bottom plate 5, and the linear push rod is between the facing surfaces of the cover plate and the bottom plate, and the linear push rod One end of 8 is hinged with the middle part of cover plate 6, and the other end is hinged with the front edge portion of base plate 5 to form a four-bar mechanism.
水平运动机构包括电机1、丝杠2、导轨3以及滑块4，丝杠的一端通过联轴器与电机1的输出轴连接，另一端与滑块4的中部连接形成螺旋副，导轨3用于对滑块4支撑以及导向；角度调节机构的底板5固定于滑块4上。The horizontal movement mechanism includes a motor 1, a screw 2, a guide rail 3 and a slider 4. One end of the screw is connected to the output shaft of the motor 1 through a coupling, and the other end is connected to the middle of the slider 4 to form a spiral pair. The guide rail 3 is used To support and guide the slider 4; the bottom plate 5 of the angle adjustment mechanism is fixed on the slider 4.
具体设置中，上述直线推杆8可以是电动、液动、气动以及其它驱动方式，本实施例采用电动驱动。In a specific setting, the above-mentioned linear push rod 8 may be driven by electric, hydraulic, pneumatic or other methods, and this embodiment adopts electric drive.
每个水平运动机构的所述滑块4上设有滑槽，滑槽的长度方向垂直于导轨的长度方向，角度调节机构的底板5设置于滑块的滑槽中形成滑动副。使两侧训练机之间的水平距离可调，实现使用者的双腿间水平距离调节。The slide block 4 of each horizontal movement mechanism is provided with a chute, the length direction of the chute is perpendicular to the length direction of the guide rail, and the bottom plate 5 of the angle adjustment mechanism is arranged in the chute of the slide block to form a sliding pair. The horizontal distance between the training machines on both sides can be adjusted to realize the adjustment of the horizontal distance between the user's legs.
参见图1，座椅的支撑架11为可升降的支撑架，在座椅12的两侧固设有扶手16，并在两个扶手16之间连接有扶手杆9，在扶手杆9上设有心率检测传感器10；扶手杆9的一端铰接在其中一根扶手16上，另一端活动连接在另一根扶手16上。扶手杆9用于防止使用者前倾而产生安全隐患，进一步保护使用者，具体实施中，实现可拆卸的方式很多，比如销连接，螺栓连接等。扶手杆9的中部设有心率检测传感器10，在使用者训练过程中实时检测心率变化，便于观察使用者身体情况。Referring to Fig. 1, the support frame 11 of seat is the support frame that can lift, and armrest 16 is fixedly provided with on both sides of seat 12, and is connected with armrest bar 9 between two armrests 16, and armrest bar 9 is provided with There is a heart rate detection sensor 10; one end of the armrest rod 9 is hinged on one of the armrests 16, and the other end is movably connected on the other armrest 16. The armrest bar 9 is used to prevent the user from leaning forward and cause potential safety hazards, and to further protect the user. In specific implementation, there are many ways to realize detachment, such as pin connection, bolt connection and the like. The middle part of the armrest bar 9 is provided with a heart rate detection sensor 10, which detects changes in the heart rate in real time during the user's training process, and is convenient for observing the user's physical condition.
所述座椅12具有坐垫本体121以及靠背122，坐垫本体121设置在滑动块上，并在坐垫本体与滑动块之间设置有实现座椅旋转并固定的旋转底盘结构。使用者可坐在坐垫结构上进行训练，并通过支撑架11内的四根伸缩杆带动支撑架上下移动将坐垫结构调整到合适的高度，以满足不同人群的需要；具体实施时，伸缩杆可以是电动直线推杆、液压推杆甚至是涡轮蜗杆等能伸缩、长度可调即可，并通过按压旋转开关通过滑轮控制角度锁定杆与角度锁定盘的分离与结合，实现座椅的旋转以及角度固定，结构简单，而且能够保证装置的使用稳定性和安全性。The seat 12 has a cushion body 121 and a backrest 122, the cushion body 121 is arranged on the sliding block, and a rotating chassis structure for realizing the rotation and fixing of the seat is arranged between the cushion body and the sliding block. The user can sit on the cushion structure for training, and the four telescopic rods in the support frame 11 drive the support frame to move up and down to adjust the cushion structure to a suitable height to meet the needs of different groups of people; It is an electric linear push rod, hydraulic push rod or even a worm gear that can be stretched and adjusted in length, and the separation and combination of the angle lock lever and the angle lock plate can be controlled by pressing the rotary switch through the pulley to realize the rotation and angle of the seat. It is fixed and has a simple structure, and can ensure the stability and safety of the device in use.
座椅靠背的设计，可实现在坐姿和卧姿下进行锻炼，有多种训练姿态供使用者选择，模式多样，应用范围广，增加舒适度。具体实施时，可采用现有翻转靠背的结构实现状态的切换，比如，由设置在坐垫本体121上的电机驱动铰接轴转动，自动化程度高。需要在站姿下训练时，通过伸缩杆将坐垫结构升高，大腿部位穿过坐垫本体121的空缺处站立，并通过驱动结构调整座椅高度，以符合站姿需要，然后即可进行站姿训练。The design of the seat back can realize exercise in sitting and lying positions, and there are various training postures for users to choose, with various modes, a wide range of applications, and increased comfort. During specific implementation, the existing flipped backrest structure can be used to switch the state. For example, the motor arranged on the seat cushion body 121 drives the hinge shaft to rotate, which has a high degree of automation. When it is necessary to train in a standing posture, the cushion structure is raised through the telescopic rod, the thigh part passes through the vacancy of the cushion body 121 to stand, and the height of the seat is adjusted through the driving structure to meet the standing posture requirements, and then the standing posture can be performed train.
本实用新型的实时可测式多位姿康健训练机器人可应用于下肢运动功能下降或丧失人群的训练恢复，帮助其轻松实现卧、坐、站多种姿态下标准运动轨迹的康复训练。对于下肢体功能健全的普通人群来说，也可以进行健康训练，帮助其增强身体运动能力，其能耗低且性价比高，应用范围广，具有非常大的产业化应用前景。The real-time measurable multi-posture health training robot of the utility model can be applied to the training and recovery of people whose lower limb motor function has declined or lost, and helps them easily realize rehabilitation training of standard motion trajectories in various postures of lying, sitting, and standing. For ordinary people with sound lower body functions, health training can also be carried out to help them enhance their physical exercise ability. It has low energy consumption, high cost performance, wide application range, and great industrial application prospects.
以上所述仅为本实用新型的优选实施例而已，并不用于限制本实用新型，对于本领域的技术人员来说，本实用新型可以有各种更改和变化。凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。The above descriptions are only preferred embodiments of the utility model, and are not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present 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.
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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 |
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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 | A support device for leg care |
| 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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