CN207041643U - A kind of gait rehabilitation trainer - Google Patents
A kind of gait rehabilitation trainer Download PDFInfo
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- CN207041643U CN207041643U CN201720028973.5U CN201720028973U CN207041643U CN 207041643 U CN207041643 U CN 207041643U CN 201720028973 U CN201720028973 U CN 201720028973U CN 207041643 U CN207041643 U CN 207041643U
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Abstract
A kind of gait rehabilitation trainer, belongs to technical field of medical instruments.It is characterized in that：Including support mechanism（1）And gait training mechanism（2）, support mechanism（1）Including the bearing frame for regular user's body and the drive mechanism for driving bearing frame to walk；Gait training mechanism（2）Pedipulator and actuating unit including being arranged on both sides, pedipulator include thigh bar（16）, shank bar（19）And pedal（20）, shank bar（19）Upper end and thigh bar（16）Rotation connection, lower end and pedal（20）Rotation connection, thigh bar（16）Upper end and actuating unit be rotatablely connected, actuating unit connects thigh bar simultaneously（16）, shank bar（19）And pedal（20）.This gait rehabilitation trainer can really stimulate the extensor activity of hemiplegia, have stimulated the active selection control of patient, have larger help to clinical practice.
Description
Technical field
A kind of gait rehabilitation trainer, belongs to technical field of medical instruments.
Background technology
Even present medical science is it was demonstrated that the substantial damage of nervous system, by the compensatory damage of Reorganization Energy for participating in nerve
The function of partial nerve.And therapeutic exercise can influence and promote this process.Therefore by gait training, majority can be made
Hemiplegic patient regains walking ability.Even aged hemiplegic patient patient, also can significantly it be recovered.And train hemiparalysis
The best method of people's independent walking is to allow patient independently to keep balancing and walking, and hides pedestrian or obstacle, and in varying environment
Lower walking effect is more more effective than traditional flat board training.
Chinese utility model patent ZL201310407667.9 discloses a kind of power-assisted exercising apparatus, using spring, steel wire
With fixed pulley group into parallel flexible structure, user's independent ambulation is easily helped, avoids the elderly and patient's long-term bed from causing
Disease and health problem, due to the device without outside energy input, belong to passive type ectoskeleton, only rely on parallel flexible structure,
Cause assist type single, thus user's walking step state can not be corrected, so as to cause reply effect poor.Therefore,
The technical program has following problem：1st, the power-assisted exercising apparatus is only capable of playing the effect of auxiliary walking, makes the device only
It can adapt to have the patient of certain walking ability to use, so as to greatly reduce accommodation；2nd, the device has been merely capable of
To the effect of auxiliary walking, and the walking of user can not be corrected, so as to cause recovery effects poor.
The content of the invention
The technical problems to be solved in the utility model is：Overcome the deficiencies in the prior art, there is provided one kind can make user
Carry out normal gait training, the gait for correcting user, the gait rehabilitation trainer of wide adaptation range.
Technical scheme is used by the utility model solves its technical problem：The gait rehabilitation trainer, its feature
It is：Including：
Support mechanism, including bearing frame and the drive mechanism of drive bearing frame walking for regular user's body；
Gait training mechanism, including the pedipulator and actuating unit of both sides are arranged on, pedipulator includes thigh bar, shank
Bar and pedal, the upper end of shank bar are rotatablely connected with thigh bar, and lower end is rotatablely connected with pedal, the upper end of thigh bar with
Actuating unit is rotatablely connected, and actuating unit connects thigh bar, shank bar and pedal simultaneously, so as to drive thigh bar, shank
Bar and pedal action.
Preferably, described actuating unit includes hip joint transmission mechanism, knee joint transmission mechanism, ankle-joint transmission mechanism
And power unit, the clutch end of hip joint transmission mechanism are connected with thigh bar, the power output of knee joint transmission mechanism
End is connected with shank bar, and the clutch end of ankle-joint transmission mechanism is connected with pedal, and hip joint transmission mechanism, knee joint pass
Motivation structure, the power intake of ankle-joint transmission mechanism are connected with power unit.
Preferably, described hip joint transmission mechanism includes hip joint driving wheel and hip joint pull bar, hip joint driving
Wheel is rotatably installed on walker, and thigh bar upper end is also rotatably installed on walker, and hip joint pull bar one end turns with thigh bar
Dynamic connection, the other end are connected with the sidepiece of hip joint driving wheel, and so as to form crank and rocker mechanism, power unit drives with hip joint
Driving wheel is connected.
Preferably, described knee joint transmission mechanism includes cam and guide rod, and cam rotation is arranged on thigh bar,
Guide rod be arranged on shank bar on, between thigh bar and guide rod be provided with make guide rod compress cam extension spring, power unit with
Cam is connected.
Preferably, the sidepiece of described cam is provided with knee joint sheave, is provided with and draws between knee joint sheave and shank bar
Rope, knee joint sheave pull shank bar to swing by drawstring.
Preferably, described ankle-joint transmission mechanism includes ankle-joint sheave and drawstring, the rotational installation of ankle-joint sheave
On shank bar, ankle-joint sheave is connected by drawstring with pedal, and power unit is connected with ankle-joint sheave.
Preferably, the upper and lower part split settings of described thigh bar, and upper and lower part can relatively rotate around axis.
Preferably, pedal link, pedal link and shank bar are provided between described pedal and shank bar
Rotation connection, pedal are fixed on pedal link, and actuating unit is connected with pedal link.
Preferably, described drive mechanism includes driving wheel and motor, and driving wheel is arranged on rear side of bearing frame, is driven
Dynamic motor is connected with driving wheel and drives driving wheel to rotate.
Preferably, it is provided with steering mechanism on the downside of described bearing frame.
Preferably, described steering mechanism includes steering motor and deflecting roller, and deflecting roller is universal wheel, and deflecting roller is installed
In the front side of bearing frame, steering motor is connected by linkage with deflecting roller, so as to promote deflecting roller to adjust direction.
Compared with prior art, beneficial effect possessed by the utility model is：
1st, the support mechanism of this gait rehabilitation trainer can undertake the part body weight of user and drive user
Mobile, thigh bar, shank bar and the pedal of gait training mechanism act synergistically under the drive of actuating unit, and people can be achieved
Changing rule in a gait cycle of hip joint, knee joint and ankle-joint and the rule of people's normal gait walking almost one
Sample, it is achieved thereby that training and correction to user's gait, and part, which is born a heavy burden, to be undertaken by user leg, can really be stimulated
The extensor activity of hemiplegia, the active selection control of patient is have stimulated, there is larger help to clinical practice.
2nd, hip joint transmission mechanism, knee joint transmission mechanism and ankle-joint transmission mechanism can drive respectively thigh bar,
Shank bar and pedal cooperate, and realize that the work of hip joint, knee joint and ankle-joint when being walked with people is consistent.
3rd, the swing of thigh bar is realized by crank and rocker mechanism, wobble accuracy is high, and convenient regulation amplitude of fluctuation.
4th, the swing of shank bar is realized by cam and guide rod, when the shank bar is walked according to people
The motion mode of shank is swung, and training effect is good；Knee joint sheave and drawstring can make shank realize the swing of greater angle, keep away
Exempt from, because the swing angle of shank bar is excessive so as to cause guide rod and cam to separate, to influence the wobble accuracy of shank bar.
5th, ankle-joint sheave and drawstring pull pedal to swing, the motion of the ankle-joint of user can be trained or
Correction.
6th, the upper and lower part of thigh bar can relatively rotate around axis, so as to avoid user from thigh occur when turning
The problem of bar and inconsistent user's leg action, user is caused to fall down.
7th, pedal link is provided between pedal and shank bar, actuating unit is connected with pedal link, so as to
It is convenient that drive pedal and shank bar are moved.
8th, motor drives bearing frame to walk by driving wheel, and then drives patient to advance, so as to preferably auxiliary
Help patient to walk, meet the training and recovery of the user that can not stand or have no locomotor activity.
9th, steering motor drives steered wheel rotation by linkage, so as to realize turning function, bearing frame action
Flexibly, it is easy to use.
Brief description of the drawings
Fig. 1 is the schematic perspective view of gait rehabilitation trainer.
Fig. 2 is the schematic perspective view of support mechanism.
Fig. 3 is the partial enlarged drawing at A in Fig. 2.
Fig. 4 is the elevational schematic view of support mechanism.
Fig. 5 is the schematic perspective view of gait training mechanism.
Fig. 6 is the partial enlarged drawing at B in Fig. 5.
Fig. 7 is the partial enlarged drawing at C in Fig. 5.
Fig. 8 is the left view schematic diagram of gait training mechanism.
Fig. 9 is the partial enlarged drawing at D in Fig. 8.
Figure 10 is the partial enlarged drawing at E in Fig. 8.
In figure：1st, support mechanism 2, gait training mechanism 3, steering motor 4, motor 5, driving wheel 6,
Deflecting roller 7, bracket 8, column 9, turning-bar 10, steering drive rod 11, steering synchronizing bar 12, gait training electricity
Machine 13, walker 14, hip joint driving wheel 15, connector 16, thigh bar 17, cam 18, guide rod 19,
Shank bar 20, pedal 21, knee joint sheave 22, pedal link 23, knee-joint active movable sprocket 24, output
Sprocket wheel 25, knee joint driven sprocket 26, ankle-joint sheave 27, hip joint pull bar 28, tightener sprocket mounting rod 29,
Tightener sprocket.
Embodiment
Fig. 1 ~ 10 are most preferred embodiments of the present utility model, and 1 ~ 10 pair of the utility model is done furtherly below in conjunction with the accompanying drawings
It is bright.
A kind of gait rehabilitation trainer, including support mechanism 1 and gait training mechanism 2.Support mechanism 1 includes being used for
The bearing frame of regular user's body and the drive mechanism for driving bearing frame walking；Gait training mechanism 2 includes being arranged on two
The pedipulator and actuating unit of side, pedipulator include thigh bar 16, shank bar 19 and pedal 20, the upper end of shank bar 19
It is rotatablely connected with thigh bar 16, lower end is rotatablely connected with pedal 20, and upper end and the actuating unit of thigh bar 16 are rotatablely connected, and are moved
Force mechanisms connect thigh bar 16, shank bar 19 and pedal 20 simultaneously, so as to drive thigh bar 16, shank bar 19 and ride
Plate 20 acts.The support mechanism 1 of this gait rehabilitation trainer can undertake the part body weight of user and drive user
Mobile, thigh bar 16, shank bar 19 and the pedal 20 of gait training mechanism 2 act synergistically under the drive of actuating unit,
The rule of the changing rule and the walking of people's normal gait of people's hip joint, knee joint and ankle-joint in a gait cycle can be achieved
It is about the same, it is achieved thereby that training and correction to user's gait, and part, which is born a heavy burden, to be undertaken by user leg, can be true
The positive extensor activity for stimulating hemiplegia, the active selection control of patient is have stimulated, there is larger help to clinical practice.
Specifically：As shown in Figure 1：When in use, the body of user is fixed on load-bearing machine to this gait rehabilitation trainer
On the bearing frame of structure 1, thigh bar 16, shank bar 19 and the pedal 20 of gait training mechanism 2 respectively with user leg
Corresponding position is fixed.Support mechanism 1 can undertake the body weight of part user, so that part is only born in the leg of user
Bear a heavy burden, can really stimulate the extensor activity of hemiplegia, have stimulated the active selection control of patient, there is larger side to clinical practice
Help.
As shown in Fig. 2 ~ 3：Bearing frame includes column 8 and the bracket 7 on column 8, and column 8 is vertically arranged, stands
The lower end of post 8 is arranged on movable stand.Bracket 7 is horizontally disposed " u "-shaped, and the opening of bracket 7 is towards front side, a bracket 7
The middle part of column 8 can be arranged in axial sliding along column 8, another bracket 7 is arranged on the upper of column 8 by bracket mounting rod
End, bracket mounting rod can slide up and down on column 8, so as to the height of two brackets 7 of convenient regulation, to adapt to
Different users.Fixing band is additionally provided with column 8（It is not drawn into figure）, in use, the bracket 7 on top is made by oxter support
User, the crotch support user that the bracket 7 of bottom passes through user.
Drive mechanism includes motor 4 and driving wheel 5, and motor 4 is arranged on movable stand, and driving wheel 5 has two
Individual, two driving wheels 5 are rotatably installed in the back lower of movable stand, and differential mechanism is provided between motor 4 and driving wheel 5, drive
Dynamic motor 4 is connected by differential mechanism with driving wheel 5, so as to drive driving wheel 5 to rotate, and then drives user's movement, differential mechanism
Two driving wheels 5 interfere when can avoid turning.Motor 4 is servomotor.
As shown in Figure 4：The downside of bearing frame be provided with for turn to steering mechanism, steering mechanism include steering motor 3 with
And deflecting roller 6, steering motor 3 are arranged on the side of movable stand, steering motor 3 is servomotor.Deflecting roller 6 has two, symmetrically
The lower front of movable stand is arranged on, deflecting roller 6 is universal wheel.Steering motor 3 by linkage simultaneously with the phase of deflecting roller 6
Even, turned to so as to promote deflecting roller 6 to realize.
Linkage includes turning-bar 9, turns to drive rod 10 and turns to synchronizing bar 11.On the output shaft of steering motor 3
It is provided with and turns to drive rod 10, the output shaft for turning to one end steering motor 3 of drive rod 10 is fixedly connected, the other end and turning-bar
9 one end rotation connection.Turning-bar 9 has two, is symmetricly set on the both sides of movable stand, turns to drive rod 10 and the steering in left side
Bar 9 is rotatablely connected.The both ends for turning to synchronizing bar 11 are rotatablely connected with two turning-bars 9 respectively, so that the turning-bar 9 of both sides is same
Step is swung, and steering synchronizing bar 11 is connected with turning-bar 9.Turn to and be provided with adjusting rod, adjusting rod between drive rod 10 and turning-bar 9
Both ends be rotatablely connected respectively with turning to drive rod 10 and turning-bar 9.The middle part of turning-bar 9 is rotatably installed on movable stand, from
And form leverage.
It is each that two connecting rods, the end rotation connection of two bar connecting rods, turning-bar 9 are equipped between turning-bar 9 and deflecting roller 6
It is connected with the link rotatable on top, connecting rod and the deflecting roller 6 of bottom are rotatablely connected, and two connecting rods intersect, adjacent with turning-bar 9
Connecting rod intersect with turning-bar 9.
As shown in Figure 5：Pedipulator and actuating unit are installed on walker 13, and pedipulator has two, is symmetrically mounted on
The both sides of walker 13, actuating unit correspond with walker 13.
The upper end of thigh bar 16 is hinged on walker 13, and the upper end and the lower end of thigh bar 16 of shank bar 19 are hinged, pin
Pedal link 22 is provided between pedal 20 and shank bar 19, pedal 20 is fixed on pedal link 22, pedal
Link 22 is rotatably installed in the lower end of shank bar 19.It is provided between pedal link 22 and shank bar 19 and is used to make pedal
20 torsionsprings resetted.
Actuating unit includes hip joint transmission mechanism, knee joint transmission mechanism, ankle-joint transmission mechanism and power unit,
Power unit is gait training motor 12.The output shaft of gait training motor 12 and hip joint transmission mechanism, knee joint driver
Structure is connected with the power intake of ankle-joint transmission mechanism, and the clutch end of hip joint transmission mechanism is connected simultaneously with thigh bar 16
Thigh bar 16 is driven to swing, the clutch end of knee joint transmission mechanism is connected with shank bar 19 and drives shank bar 19 to swing,
The clutch end of ankle-joint transmission mechanism is connected with pedal link 22, so as to drive pedal 20 to swing.Gait training
Motor 12 is servomotor.
As shown in Fig. 6 ~ 7：The output shaft of gait training motor 12 connects knee joint transmission mechanism and ankle-joint by chain
Transmission mechanism.Chain includes being arranged on the fixation chain on walker 13 and the swing chain on thigh bar 16.
Walker 13 is provided with input sprocket close to one end of gait training motor 12, and one away from gait training motor 12
End is provided with output chain gear 24, and fixed chain is connected with input sprocket and output chain gear 24 respectively, gait training motor 12 it is defeated
Shaft is connected with input sprocket and drives input sprocket to rotate.The upper end of thigh bar 16 is rotatablely equipped with knee-joint active movable sprocket
23, the lower end of thigh bar 16 is rotatablely equipped with knee joint driven sprocket 25, swing chain respectively with knee-joint active movable sprocket 23 and
Knee joint driven sprocket 25 is meshed.The power intake of knee joint transmission mechanism and ankle-joint transmission mechanism with knee joint from
Movable sprocket 25 is connected.
Output chain gear 24 and knee-joint active movable sprocket 23 are installed by rotating shaft, and two rotating shafts pass through Hooks coupling universal coupling phase
Even, " L " shape connector is provided between two rotating shafts, the horizontal position of connector 15 is coaxially disposed in upside and with rotating shaft, link
Horizontal part be rotatablely connected by connecting shaft and Hooks coupling universal coupling, vertical portion is connected with axis of rotation.The top of thigh bar 16 and
Bottom split settings, and the upper and lower part of thigh bar 16 can relatively rotate around axis, so as to avoid using when turning
The action of the leg of person and thigh bar 16 is inconsistent to cause user to fall down, additionally it is possible to avoids sending out on the top of thigh bar 16 and bottom
During raw relative rotation, swing chain and depart from sprocket wheel.In use, the thigh of user is fixed with thigh bar, so that user
Thigh and thigh bar between form a parallelogram, when thigh, which carries out inward turning and outward turning, to be acted, thigh bar 16 is with big
Leg synchronous axial system, and rotational angle is identical with angle that thigh rotates.
Knee joint transmission mechanism includes cam 17 and guide rod 18, and cam 17 is rotatably installed in the lower end of thigh bar 16,
And cam 17 is connected with knee joint driven sprocket 25 and keeps synchronous axial system.Guide rod 18 is arranged on small by guide rod mounting bracket
On leg bar 19, extension spring is provided between thigh bar 16 and guide rod mounting bracket, extension spring makes guide rod 18 be in close contact with cam 17, from
And the precision for swinging shank bar 19 is high.
The side of the remote thigh bar 16 of cam 17 is provided with knee joint sheave 21, and knee joint sheave 21 is arranged on cam 17
The side of rotating shaft.Drawstring is provided between knee joint sheave 21 and shank bar 19, drawstring one end is fixedly connected with knee joint sheave 21,
The other end is fixedly connected with the middle part of shank bar 19.Cam 17 rotates, and promotes shank bar 19 to swing by guide rod 18, works as shank
When bar 19 is rocked to certain altitude, guide rod 18 separates with cam 17, and now knee joint sheave 21 pulls shank bar by drawstring
19 continue up swing, so that the swing angle of shank bar 19 is consistent with the swing angle of shank during people's walking.Pass through cam
17 swing shank bar 19 and the swing of shank bar 19 is carried out indirectly by drawstring, i.e., the knee joint in a gait cycle
The rotating part time is controlled by cam 17, and remaining time is controlled by drawstring.
Ankle-joint transmission mechanism includes ankle-joint sheave 26 and drawstring, and ankle-joint sheave 26 passes through sheave mounting rod and knee
Joint driven sprocket 25 is connected, the axis of ankle-joint sheave 26 and the diameter parallel of knee joint driven sprocket 25, sheave mounting rod
One end is fixedly connected with knee joint driven sprocket 25, and the other end is fixedly connected with ankle-joint sheave 26, and makes ankle-joint sheave 26
Axis be located at the side of knee joint driven sprocket 25.Drawstring upper end is fixedly connected with ankle-joint sheave 26, and the other end is with riding
Plate link 22 is fixedly connected, so as to drive pedal link 22 and the pedal 20 on pedal link 22
Swing.Tensioning sheave is provided with shank bar 19 between pedal link 22 and ankle-joint sheave 26, tensioning sheave rotates
On shank bar 19, drawstring is connected by the front side of tensioning sheave around after tightener sprocket with pedal link 22, so as to
It can avoid counteracting drawstring after shank bar 19 is swung, and then influence the swing of pedal 20, additionally it is possible to which drawstring is entered
Row tensioning.
As shown in Fig. 8 ~ 9：Hip joint transmission mechanism includes hip joint driving wheel 14 and hip joint pull bar 27.Hip joint drives
Driving wheel 14 is rotatably installed on walker 13, and hip joint driving wheel 14 is coaxially disposed with input sprocket and keeps synchronous axial system.Hip
Joint drive wheel 14 is gear, and the active being meshed with hip joint driving wheel 14 is provided with the output shaft of gait training motor 12
Sprocket wheel, gait training motor 12 drive hip joint driving wheel 14 to rotate by gear drive, and then drive input sprocket to rotate.Hip
One end of joint pull bar 27 is rotatablely connected with the sidepiece of hip joint driving wheel 14, and the top of the other end and thigh bar 16, which rotates, to be connected
Connect, hip joint driving wheel 14, hip joint pull bar 27 and thigh bar 16 form crank and rocker mechanism, so as to drive thigh bar 16 weeks
The reciprocally swinging of phase property.
As shown in Figure 10：Thigh bar 16 is provided with the strainer being used for swinging chain tension, and strainer includes opening
Tight sprocket wheel mounting rod 28 and the tightener sprocket 29 on tightener sprocket mounting rod 28.The middle part of tightener sprocket mounting rod 28
It is rotatably installed on thigh bar 16, so as to form leverage, tightener sprocket 29 there are two, is symmetricly set on tightener sprocket installation
The both ends of bar 28, same side oscillation chain engage with two tightener sprockets 29 simultaneously.Tightener sprocket mounting rod 28 and thigh bar 16 it
Between be provided with promote tightener sprocket 29 to swing chain tension spring, so as to thigh bar 16 and shank bar 19 swing when protect
Card swings the rate of tension of chain, avoids tension chain excessively loose.It can not increase knee joint actively using two tightener sprockets 29
Under conditions of sprocket wheel 23 and the centre-to-centre spacing of knee joint driven sprocket 25, increase swings the length of chain, avoids due to swinging chain length
The swing of small influence shank bar 19 is spent, due to knee-joint active movable sprocket 23 and knee can be made when being and adjusting the length of thigh bar 16
The centre-to-centre spacing change of joint driven sprocket 25, strainer can make chain adapt to different centre-to-centre spacing, therefore need not change chain
Bar.
The application method of this gait rehabilitation trainer is as follows：Now the body of user is fixed on bearing frame, then
Leg corresponding position of two pedipulators respectively with user is fixed, according to the height and build of user, two can be adjusted
The width of side pedipulator, and thigh bar and shank pole length and ankle-joint height.Motor 4 is driven by driving wheel 5 and held
The body movement of weight frame, makes bearing frame be moved with the walking of user, steering motor 3 is realized by deflecting roller 6 and turned to.Gait is instructed
Practicing motor 12 drives hip joint driving wheel 14 to rotate, and so as to solid line, the swing of thigh bar 16, hip joint driving wheel 14 pass through solid
Determine chain and swing chain-driving cam 17 to rotate, and then the solid line swing of shank bar 19, ankle-joint sheave 26 and cam 17
Synchronous axial system, and drive ankle-joint link 22 to swing by drawstring, so as to be thigh bar 16, shank bar 19 and pedal 20
The consistent action of gait when being walked with solid line with people, is corrected, and user is completed gait instruction to the gait of user
Practice.
Rotating speed by adjusting gait training motor 12 can adjust the leg speed and cadence of gait training, finely tune hip joint pull bar
27 with the link position of hip joint driving wheel 14, corresponding is regulation crank length, can adjust the stride of gait training.Suitably change
Become the dimensional parameters of transmission mechanism, gait training mechanism can be made to be leaping over obstacles pattern from level walking mode conversion or above go downstairs
Terraced training mode, so as to carry out comprehensive, more situation rehabilitation trainings to user.The leg of hemiplegic patient follows gait training mechanism to transport
It is dynamic, allow the leg muscle of user to experience the stimulation of walking conscientiously.This motion mode compares the mouth of more professional rehabilitation doctor
Head instructs, and the rehabilitation to hemiplegic patient's walking ability is more effective.Doctor clinically can be mitigated as the assistive device of rehabilitation doctor
Labor intensity, shorten hemiplegia recover the cycle.
It is described above, only it is preferred embodiment of the present utility model, is not that other forms are made to the utility model
Limitation, any person skilled in the art is changed or is modified as possibly also with the technology contents of the disclosure above equivalent
The equivalent embodiment of change.But it is every without departing from the content of the technical scheme of the utility model, it is real according to technology of the present utility model
Any simple modification, equivalent variations and the remodeling that confrontation above example is made, still fall within the guarantor of technical solutions of the utility model
Protect scope.
Claims (10)
- A kind of 1. gait rehabilitation trainer, it is characterised in that：Including：Support mechanism（1）, including bearing frame and the drive mechanism of drive bearing frame walking for regular user's body；Gait training mechanism（2）, including the pedipulator and actuating unit of both sides are arranged on, pedipulator includes thigh bar（16）、 Shank bar（19）And pedal（20）, shank bar（19）Upper end and thigh bar（16）Rotation connection, lower end and pedal （20）Rotation connection, thigh bar（16）Upper end and actuating unit be rotatablely connected, actuating unit connects thigh bar simultaneously（16）, it is small Leg bar（19）And pedal（20）, so as to drive thigh bar（16）, shank bar（19）And pedal（20）Action.
- 2. gait rehabilitation trainer according to claim 1, it is characterised in that：Described actuating unit includes hip joint Transmission mechanism, knee joint transmission mechanism, ankle-joint transmission mechanism and power unit, the clutch end of hip joint transmission mechanism With thigh bar（16）It is connected, clutch end and the shank bar of knee joint transmission mechanism（19）It is connected, ankle-joint transmission mechanism Clutch end and pedal（20）It is connected, hip joint transmission mechanism, knee joint transmission mechanism, the power of ankle-joint transmission mechanism Input is connected with power unit.
- 3. gait rehabilitation trainer according to claim 2, it is characterised in that：Described hip joint transmission mechanism includes Hip joint driving wheel（14）And hip joint pull bar（27）, hip joint driving wheel（14）It is rotatably installed in walker（13）On, greatly Leg bar（16）Upper end is also rotatably installed in walker（13）On, hip joint pull bar（27）One end and thigh bar（16）Rotation connection, The other end and hip joint driving wheel（14）Sidepiece connection, so as to form crank and rocker mechanism, power unit drives with hip joint Wheel（14）It is connected.
- 4. gait rehabilitation trainer according to claim 2, it is characterised in that：Described knee joint transmission mechanism includes Cam（17）And guide rod（18）, cam（17）It is rotatably installed in thigh bar（16）On, guide rod（18）Installed in shank bar （19）On, thigh bar（16）And guide rod（18）Between be provided with make guide rod（18）Compress cam（17）Extension spring, power unit With cam（17）It is connected.
- 5. gait rehabilitation trainer according to claim 4, it is characterised in that：Described cam（17）Sidepiece installation There is knee joint sheave（21）, knee joint sheave（21）With shank bar（19）Between be provided with drawstring, knee joint sheave（21）Pass through drawing Rope pulls shank bar（19）Swing.
- 6. gait rehabilitation trainer according to claim 2, it is characterised in that：Described ankle-joint transmission mechanism includes Ankle-joint sheave（26）And drawstring, ankle-joint sheave（26）It is rotatably installed in shank bar（19）On, ankle-joint sheave（26）It is logical Cross drawstring and pedal（20）Connection, power unit and ankle-joint sheave（26）It is connected.
- 7. the gait rehabilitation trainer according to any one of claim 1 ~ 4, it is characterised in that：Described thigh bar（16） Upper and lower part split settings, and upper and lower part can relatively rotate around axis.
- 8. gait rehabilitation trainer according to claim 1, it is characterised in that：Described pedal（20）With shank bar （19）Between be provided with pedal link（22）, pedal link（22）With shank bar（19）Rotation connection, pedal（20） It is fixed on pedal link（22）On, actuating unit and pedal link（22）It is connected.
- 9. gait rehabilitation trainer according to claim 1, it is characterised in that：Described drive mechanism includes driving wheel （5）And motor（4）, driving wheel（5）It is arranged on rear side of bearing frame, motor（4）With driving wheel（5）It is connected and drives Driving wheel（5）Rotate.
- 10. gait rehabilitation trainer according to claim 1, it is characterised in that：It is provided with and turns on the downside of described bearing frame To mechanism.
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|---|---|---|---|
| CN201720028973.5U CN207041643U (en) | 2017-01-11 | 2017-01-11 | A kind of gait rehabilitation trainer |
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| CN201720028973.5U CN207041643U (en) | 2017-01-11 | 2017-01-11 | A kind of gait rehabilitation trainer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106539668A (en) * | 2017-01-11 | 2017-03-29 | 刘建英 | A kind of gait rehabilitation training devicess |
| CN110960403A (en) * | 2019-12-31 | 2020-04-07 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN113274700A (en) * | 2021-02-07 | 2021-08-20 | 南昌大学第二附属医院 | Neural recovered motion of shank dresses device |
-
2017
- 2017-01-11 CN CN201720028973.5U patent/CN207041643U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106539668A (en) * | 2017-01-11 | 2017-03-29 | 刘建英 | A kind of gait rehabilitation training devicess |
| CN106539668B (en) * | 2017-01-11 | 2019-03-19 | 刘建英 | A kind of gait rehabilitation training device |
| CN110960403A (en) * | 2019-12-31 | 2020-04-07 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN110960403B (en) * | 2019-12-31 | 2021-08-24 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN113274700A (en) * | 2021-02-07 | 2021-08-20 | 南昌大学第二附属医院 | Neural recovered motion of shank dresses device |
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