CN207186798U - Foot motion device - Google Patents
Foot motion device Download PDFInfo
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- CN207186798U CN207186798U CN201720193071.7U CN201720193071U CN207186798U CN 207186798 U CN207186798 U CN 207186798U CN 201720193071 U CN201720193071 U CN 201720193071U CN 207186798 U CN207186798 U CN 207186798U
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Abstract
The utility model four limbs linkage recovery exercising robot, foot motion device, including foot's Y-axis telecontrol equipment, foot's Z axis telecontrol equipment, foot's rotating device and foot's adjusting means, foot's Y-axis telecontrol equipment includes foot's y-axis motor, foot's Y-axis leading screw, foot's Y-axis lead screw shaft bearings, foot's Y-axis guide rail, foot's Y-axis sliding block and pedal, pedal is arranged in supporting plate, supporting plate is arranged on foot's Y-axis sliding block, and foot's y-axis motor drives foot's Y-axis guide screw movement to drive supporting plate to be moved with the pedal being arranged in supporting plate along Y-axis.The utility model is simple in construction, easy to operate, quick, can carry out linkage rehabilitation training to foot's knee joint, ankle-joint.
Description
Technical field
It the utility model is related to a kind of four limbs linkage recovery exercising robot, more particularly to its leg exercise device.
Background technology
The exercise of patient completion foot and trunk is typically assisted in traditional rehabilitation training by several professional medical workers.Doctor
Not only labor intensity is big by shield personnel, and it is difficult to ensure that stable continuation training.In order to solve the above technical problems, carry at present
A kind of robot that dedicated for patient lower limb are carried out with rehabilitation training is supplied, when in use, patient realizes station by robot
It is vertical, and the training realized to patient feet is acted by robot, so as to reach the fortune for helping patient to recover lower limb body
Motivation energy.But the lower limbs rehabilitation training robot structure is more single at present, patient can not be each to foot according to actual conditions
Individual joint carries out rehabilitation training.
Utility model content
The utility model is in order to solve the above-mentioned technical problem, there is provided and it is a kind of simple in construction, it is easy to operate, quick, can be right
Foot's knee joint, ankle-joint carry out the foot motion device of rehabilitation training.
The utility model is achieved through the following technical solutions：
Foot motion device, it includes foot's Y-axis telecontrol equipment, foot's Z axis telecontrol equipment, foot's rotating device and foot
Adjusting means, foot's Y-axis telecontrol equipment include foot's y-axis motor, foot's Y-axis leading screw, foot's Y-axis lead screw shaft bearings, pin
Portion's Y-axis guide rail, foot's Y-axis sliding block and pedal, the pedal are arranged in supporting plate, and the supporting plate is arranged at the pin
On portion's Y-axis sliding block, foot's y-axis motor drives foot's Y-axis guide screw movement so as to drive supporting plate and be arranged at the support
Pedal on plate moves along Y-axis.
Foot's Z axis telecontrol equipment includes foot's Z axis motor, foot's Z axis leading screw, foot's Z axis guide rail and foot's Z axis and slided
Block, foot's Z axis motor adjust foot's Y-axis guide screw movement so as to drive the pedal to be moved along Z axis.
Foot's rotating device includes foot's electric rotating machine, sole gear train, rotary shaft and support frame, the rotary shaft
It is arranged at middle part, support frame below the pedal and is arranged at the rear and front end of the pedal, foot's electric rotating machine leads to
The motion of sole gear set drive rotary shaft is crossed so as to drive pedal rotary motion.
Foot's adjusting means includes knee joint bandage and knee joint bandage height adjustable regulating device.
The knee joint bandage height adjustable regulating device includes support bar and support block, and support bar is vertical with supporting plate to be connected
Connect, support block is connected with the knee joint bandage, and is set on support bar, and the support block can drive knee joint bandage along support
Bar moves up and down.
The utility model beneficial effect：Foot motion device, including foot's Y-axis telecontrol equipment, foot's Z axis telecontrol equipment,
Foot's rotating device and foot's adjusting means.Foot's Y-axis telecontrol equipment, foot's Z axis telecontrol equipment realize that foot strides and lifted,
The normal activity states of analogue simulation foot carry out rehabilitation training to its knee joint, and leg rotating device is realized that foot rotates, imitated
The proper motion of true foot carries out rehabilitation training to its ankle-joint, and the utility model is simple in construction, easy to operate, quick, can
Linkage rehabilitation training is carried out to foot's knee joint, ankle-joint.
Brief description of the drawings
Fig. 1 is the utility model four limbs linkage recovery exercising robot overall structure diagram；
Fig. 2 is the hand motion device schematic diagram of the utility model four limbs linkage recovery exercising robot；
Fig. 3 is the foot motion schematic device of the utility model four limbs linkage recovery exercising robot；
Fig. 4 is the hip joint correcting device schematic diagram of the utility model four limbs linkage recovery exercising robot；
Fig. 5 is the weight reducing device schematic diagram of the utility model four limbs linkage recovery exercising robot；
Fig. 6 is gravity center of human body's adjusting apparatus of the utility model four limbs linkage recovery exercising robot.
Wherein, 1- hand motion devices, 2- foot motion devices, 3- hip joint correcting devices, 4- weight reducing devices, 5- human bodies
Gravity center adjuster, 11- handrails, 12- hand pendulum motors, 13- hand pendulums, 14- hands pendulum tie up hand saver set, 15- hands X-axis regulation hand
Wheel, 16- hand X-axis adjusting screws, 17- hand Y-axis adjusting handles, 18- hand Y-axis adjustment gears, 19- hands Y-axis regulation tooth
Bar, 110- hand Z axis regulation motors, 111- hand Z axis lead screw assemblies, 21- foots y-axis motor, 22- foots Y-axis sliding block, 23-
Foot's Y-axis guide rail, 24- pedals, 25- foots Y-axis leading screw, 26- foots Y-axis lead screw shaft bearings, 27- foots Z axis motor, 28-
Foot's Z axis leading screw, 29- foots Z axis guide rail, 210- foots Z axis sliding block, 211- sole gear trains, 212- rotary shafts, 213- knees close
Section bandage, 214- knee joint bandage height adjustable regulating devices, 215- supporting plates, 216- support frames, 31- hip joint adjusting handles,
32- hip joint adjusting screws, 33- hip joint regulating blocks, 34- hip joint fast pulleys, 35- hip joint left regulation wheels, 36- hip joints electricity
Machine, 37- hip joint elevating screw components, 38- back cushions, 41- Worm reduction motors, 42- reduction gearing, 43- take-up pulleies,
44- bearing blocks, 45- directive wheels, 46- drawstrings, 47- bandage components, 51- sloping platform ranks, 52- bases, 53- push-rod electric machines, 54- are tilted
Platform.
Specific embodiment
As shown in Figures 1 to 6, four limbs linkage recovery exercising robot, including hand motion device 1, foot motion device 2,
Hip joint correcting device 3, weight reducing device 4 and gravity center of human body's adjusting apparatus 5, hand motion device 1 include left hand motion device
With right hand portion telecontrol equipment, foot motion device includes left foot portion telecontrol equipment and by foot motion device.
In the present embodiment, hand motion device 1 includes handrail 11, hand pendulous device and hand adjusting apparatus, hand pendulum
Hand pendulum motor 12, hand pendulum 13 and the hand pendulum that dynamic device includes being sequentially connected tie up hand saver set 14, and the band of hand pendulum motor 12 is started pendulum
13 motion so as to drive be arranged at hand pendulum tie up hand saver set 14 in arm swung.When patient does not need rehabilitation instruction in the setting
When practicing upper limbs, left and right handrail can be held, when patient needs rehabilitation training upper limbs, left and right arm is placed on corresponding right-hand man's pendulum
Tie up in gloves, the band of hand pendulum motor 12 starts the motion of pendulum 13 so as to which band pendulum of starting is tied up the arm in hand saver set 14 and moved forward and backward, real
The rehabilitation training of existing simulated humanbody hand swing and training effect is more preferably.
In the present embodiment, hand adjusting apparatus includes hand X-axis adjusting apparatus, the hand Y-axis adjusting apparatus being sequentially connected
With hand Z axis adjusting apparatus, hand X-axis adjusting apparatus includes hand X-axis adjusting handle 15 and ties up hand saver set with hand pendulum 14 being connected
Hand X-axis adjusting screw 16, hand X-axis adjusting handle 15 drives hand X-axis adjusting screw 16 to move so as to drive hand pendulum to tie up
Hand saver set 14 moves in the X-axis direction.Hand Y-axis adjusting apparatus includes hand Y-axis adjusting handle 17, hand Y-axis adjustment gear 18
With hand Y-axis adjusting gear rack 19, hand Y-axis adjusting handle 17 drives Y-axis hand to adjust gear 18 to be nibbled with hand Y-axis adjusting gear rack 19
Close so as to drive X-axis hand adjusting means to be moved along Y direction.Z axis hand adjusting means includes hand Z axis regulation motor 110
With hand Z axis lead screw assembly 111, hand Z axis regulation motor 110 drives hand Z axis lead screw assembly 111 to move so as to drive X-axis
Hand adjusting means and Y-axis hand adjusting means are moved along Z-direction.The hand X-axis adjusting apparatus, hand Y-axis adjusting apparatus
With hand Z axis adjusting apparatus, the different crowd of build can be adapted to use, and the comfort level of arm, rehabilitation training best results.
In the present embodiment, foot motion device realizes the rehabilitation training of hip joint, knee joint and ankle-joint, including foot
Y-axis telecontrol equipment, foot's Z axis telecontrol equipment, foot's rotating device and foot's adjusting means, foot's Y-axis telecontrol equipment include pin
Portion's y-axis motor 21, foot's Y-axis leading screw 25, foot's Y-axis lead screw shaft bearings 26, foot's Y-axis guide rail 23, foot's Y-axis sliding block 22 and pin
Pedal 24, pedal 24 are arranged at 215 in supporting plate, and supporting plate 215 is arranged on foot's Y-axis sliding block 22, foot's y-axis motor 21
Foot's Y-axis leading screw 25 is driven to move so as to drive supporting plate 215 to be moved with the pedal 24 being arranged in supporting plate 25 along Y-axis.
Supporting plate 215 is arranged on foot's Y-axis sliding block 22 in the present embodiment, pedal 24, foot's Z axis telecontrol equipment, foot's rotating dress
Put and be arranged on foot adjusting means in supporting plate 215, it is foot-operated to be worn on corresponding left and right for patient or so sole in the present embodiment
In plate 24, foot's y-axis motor drives foot's Y-axis leading screw 25 to move so as to drive supporting plate and set the pedal in its supporting plate
24th, foot's Z axis telecontrol equipment, foot's rotary motion and foot's adjusting means are slided in Y-axis guide rail along Y-axis together.The setting
The rehabilitation training to be striden before and after simulated humanbody foot can be achieved, and rehabilitation training is better.
In the present embodiment, foot's Z axis telecontrol equipment includes foot's Z axis motor 27, foot's Z axis leading screw 28, foot's Z axis guide rail
29 and foot's Z axis sliding block 210, foot's Z axis motor 27 drives foot's Y-axis leading screw 28 to move so as to drive pedal 24 to be transported along Z axis
It is dynamic.The rehabilitation training that simulated humanbody foot is lifted up and down can be achieved in the setting, and rehabilitation efficacy is more preferably.
In the present embodiment, foot's rotating device includes foot's electric rotating machine, sole gear train 211, rotary shaft 212 and support
Frame 216, rotary shaft 212 are arranged at the lower section of pedal 24 middle part, the top of supporting plate 215, before support frame 216 is located at pedal
Rear end, foot's electric rotating machine drive rotary shaft 212 to move so as to drive the rotary motion of pedal 24 by sole gear train 211.
Wherein, support frame 216 is used for the anglec of rotation for adjusting pedal 24.Emulation ankle motion can be achieved in the setting, realizes foot
Rehabilitation training, its rehabilitation efficacy is more preferably.
In the present embodiment, foot's adjusting means includes knee joint bandage 213 and knee joint bandage height adjustable regulating device
214.The knee joint bandage arrangement for adjusting height includes support bar and support block, support bar and supporting plate vertical connection, support block
It is connected, and is set on support bar with knee joint bandage 213, the support block can drives knee joint bandage to be transported up and down along support bar
It is dynamic, can be by screw locking after adjusting to suitable position, the setting can be adapted to the different crowd of build to use, and foot
Comfort level, rehabilitation training best results.
In the present embodiment, hip joint correcting device includes hip joint adjusting means and hip joint lowering or hoisting gear, hip joint liter
Falling unit includes hip joint motor 36 and hip joint elevating screw component 37.Hip joint motor 36 is provided with two in the present embodiment
It is individual.Hip joint elevating screw component includes spaced two vertical pole, is provided with leading screw on two vertical poles, is provided with leading screw
Sliding block, a cross bar is connected between two sliding blocks, and hip joint motor 36 drives guide screw movement to drive sliding block and be connected with sliding block
Cross bar move up and down.
Hip joint adjusting means is arranged on cross bar, can be moved up and down with cross bar, and hip joint adjusting means includes hip joint
Adjusting handle 31, hip joint adjusting screw 32, hip joint regulating block 33, hip joint fast pulley 34 and hip joint left regulation wheel 35；Hip
Joint left regulation wheel 35 is connected with hip joint regulating block 33.Hip joint fast pulley 34 and hip joint left regulation wheel 35 are in circular arc type, and hip closes
Section left regulation wheel 35 is located at the inner side of hip joint fast pulley 34, and can be rotated along hip joint fast pulley 34, and hip joint regulating block 33 is set
It is placed on hip joint adjusting screw 32, further, projection is provided with hip joint left regulation wheel 35, is set on hip joint regulating block 33
It is equipped with groove, in the groove on the embedded hip joint regulating block 33 of the projection in hip joint left regulation wheel 35, hip joint adjusting handle 31
Hip joint adjusting screw 32 is driven to move the hip so as to drive hip joint regulating block 33 and be cooperated with hip joint regulating block 33
Joint left regulation wheel motion, finally realizes that hip joint corrects rehabilitation training, and rehabilitation efficacy is more preferably.Further, can be in hip joint
The both sides of adjusting screw are provided with hip joint guide rail, and hip joint regulating block 33 can be run along hip joint guide rail, and the setting causes hip
Joint regulating block 33 is run more steady, and it is better that hip joint corrects rehabilitation training.In addition, hip joint correcting device is also set
The back cushion 38 for being easy to patient to rely on is equipped with, the back cushion can mitigate patient pain's sense and be allowed to be in more comfortable state.
In the present embodiment, weight reducing device includes Worm reduction motor 41, reduction gearing 42, take-up pulley 43, drawstring 46
And bandage component 47, take-up pulley 43 are arranged in bearing block 44, drawstring 46 is directed on take-up pulley 43 by directive wheel 45, worm gear
Endless screw electric motor 41 drives take-up pulley 43 to rotate so as to drive the bandage component 47 being connected with drawstring 46 along Z axis by reduction gearing 42
Motion.The setting, which realizes, alleviates sole load-bearing pressure so that the rehabilitation training of four limbs and other bodies reaches optimum state.
In the present embodiment, gravity center of human body's adjusting means includes sloping platform rank 51, base 52 and the push rod electricity in base 52
Machine 53, the sloping platform 54 being connected with the push rod of push-rod electric machine 53, the center of sloping platform 54 are provided with sloping shaft, and sloping shaft is fixed
In in bearing block.
The technical scheme provided above utility model embodiment is described in detail, used herein specifically individual
Example is set forth to the principle and embodiment of the utility model embodiment, and the explanation of above example is only applicable to help
Understand the principle of the utility model embodiment；Meanwhile for those of ordinary skill in the art, implement according to the utility model
Example, the there will be changes in embodiment and application, in summary, this specification content should not be construed as
Limitation to utility model.
Claims (5)
1. foot motion device, it is characterised in that：It includes foot's Y-axis telecontrol equipment, foot's Z axis telecontrol equipment, foot's rotation
Device and foot's adjusting means, foot's Y-axis telecontrol equipment include foot's y-axis motor, foot's Y-axis leading screw, foot's Y-axis leading screw
Bearing block, foot's Y-axis guide rail, foot's Y-axis sliding block and pedal, the pedal are arranged in supporting plate, and the supporting plate is set
It is placed on foot's Y-axis sliding block, foot's y-axis motor drives foot's Y-axis guide screw movement so as to drive supporting plate with setting
Moved in the pedal in the supporting plate along Y-axis.
2. foot motion device according to claim 1, it is characterised in that：Foot's Z axis telecontrol equipment includes foot Z
Spindle motor, foot's Z axis leading screw, foot's Z axis guide rail and foot's Z axis sliding block, foot's Z axis motor regulation foot Y-axis leading screw fortune
Move so as to drive the pedal to be moved along Z axis.
3. foot motion device according to claim 1, it is characterised in that：Foot's rotating device rotates including foot
Motor, sole gear train, rotary shaft and support frame, the rotary shaft are arranged at middle part below the pedal, and support frame is set
In the rear and front end of the pedal, foot's electric rotating machine is moved by sole gear set drive rotary shaft so as to drive pin
Pedaling rotational motion.
4. foot motion device according to claim 1, it is characterised in that：Foot's adjusting means is tied up including knee joint
Band and knee joint bandage height adjustable regulating device.
5. foot motion device according to claim 4, it is characterised in that：The knee joint bandage height adjustable regulating device
Including support bar and support block, support bar and supporting plate vertical connection, support block is connected with the knee joint bandage, and is set on
On support bar, the support block can drive knee joint bandage to be moved up and down along support bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720193071.7U CN207186798U (en) | 2017-03-01 | 2017-03-01 | Foot motion device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720193071.7U CN207186798U (en) | 2017-03-01 | 2017-03-01 | Foot motion device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207186798U true CN207186798U (en) | 2018-04-06 |
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ID=61792514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720193071.7U Active CN207186798U (en) | 2017-03-01 | 2017-03-01 | Foot motion device |
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| CN (1) | CN207186798U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109528442A (en) * | 2018-11-20 | 2019-03-29 | 上海市第十人民医院 | A kind of ankle joint rehabilitation training auxiliary device |
| CN109603097A (en) * | 2019-01-02 | 2019-04-12 | 安徽医科大学第附属医院 | A kind of lower limb hemiplegia function training device |
| CN110236937A (en) * | 2019-07-12 | 2019-09-17 | 河南省中医院（河南中医药大学第二附属医院） | Medical rheumatic arthritis nursing device |
-
2017
- 2017-03-01 CN CN201720193071.7U patent/CN207186798U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109528442A (en) * | 2018-11-20 | 2019-03-29 | 上海市第十人民医院 | A kind of ankle joint rehabilitation training auxiliary device |
| CN109528442B (en) * | 2018-11-20 | 2020-09-15 | 上海市第十人民医院 | A kind of ankle joint rehabilitation training auxiliary device |
| CN109603097A (en) * | 2019-01-02 | 2019-04-12 | 安徽医科大学第附属医院 | A kind of lower limb hemiplegia function training device |
| CN110236937A (en) * | 2019-07-12 | 2019-09-17 | 河南省中医院（河南中医药大学第二附属医院） | Medical rheumatic arthritis nursing device |
| CN110236937B (en) * | 2019-07-12 | 2021-02-23 | 河南省中医院（河南中医药大学第二附属医院） | Medical rheumatic arthritis nursing device |
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